LED chip accurate positioning control based on visual servo using dual rate adaptive fading Kalman filter

In this paper, to improve the positioning accuracy of LED chip, a dual rate adaptive fading Kalman filter algorithm with delay compensation is proposed and applied to the LED chip visual servo positioning system. Firstly, a structure of dual rate Kalman filter is introduced to the visual servo control system, which compensate the visual information delay and realize the accurate time sequential coordination of encoder and visual feedback. Then, considering the inaccuracy of system mathematical model, the adaptive forgetting factor is added to the iterative process of above algorithm, and the impact of accumulated model error on system stability is consequently mitigated. Finally, the experimental results show that the proposed method obviously decreases the positioning errors of LED chip and is robust to inaccuracy and uncertainty of system model parameters. •Precise and efficient sequential coordination of encoder and visual measurement.•Elimination of measurement noise and delay compensation of visual measurement.•Solving of accurate state estimation at each time step in real time.•Robustness to inaccuracy and uncertainty of the system mathematical model.