Bilateral control-based compensation for rotation in imaging in scan imaging systems

Dapeng Tian; Yutang Wang; Fuchao Wang; Yupeng Zhang

doi:10.1117/1.OE.54.12.124104

29 December 2015 Bilateral control-based compensation for rotation in imaging in scan imaging systems

Dapeng Tian, Yutang Wang, Fuchao Wang, Yupeng Zhang

Author Affiliations +

Optical Engineering, Vol. 54, Issue 12, 124104 (December 2015). https://doi.org/10.1117/1.OE.54.12.124104

Abstract

Scan imaging systems rely on the rotation of a mirror to scan an image. The rotation in the resulting image must be compensated to prevent information loss. Satisfactory performance of an imaging system is difficult to achieve when employing the methods of mechanical transmission and unilateral tracking control, especially when the system suffers from nonlinear factors, disturbances, and dynamic uncertainties. This paper proposes a compensation method based on bilateral control derived from the field of haptic robots. A two-loop disturbance observer was designed to guarantee that the dynamic characteristics of the motor are close to those of the nominal model. The controllers were designed on the basis of the small gain theorem. Experiments were conducted for a comparison with the traditional unilateral control-based compensation. The comparison showed a reduction of 99.83% in the L₂ norm of error, which validates the method. The proposed method improves the accuracy of compensation for rotation in imaging, and demonstrates that bilateral control has feasibility for application in various fields, including photogrammetry.

Citation Download Citation

Dapeng Tian, Yutang Wang, Fuchao Wang, and Yupeng Zhang "Bilateral control-based compensation for rotation in imaging in scan imaging systems," Optical Engineering 54(12), 124104 (29 December 2015). https://doi.org/10.1117/1.OE.54.12.124104

Published: 29 December 2015

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