Suboptimal robust linear Visual Servoing for an underactuated system with delays

Author

Benitez-Morales, A. ; Santos, O. ; Ramos-Velasco, L.E.

Author_Institution

Univ. Autonoma del Estado de Hidalgo, Hidalgo, Mexico

fYear

2010

fDate

22-24 Feb. 2010

Firstpage

79

Lastpage

84

Abstract

This article synthesized suboptimal control for an underactuated system with delays; it also presents a robust stability dependent to delay. Using dynamic programming, an optimal quadratic regulator (LQR) controller is synthesized, which is then applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for both time-invariant case and for time-variant case. We presented an application in Visual Servoing for the inverted pendulum.

Keywords

delays; dynamic programming; linear matrix inequalities; linear quadratic control; manipulator dynamics; nonlinear systems; optimal control; pendulums; robust control; stability; visual servoing; delay-dependent condition; delays; dynamic programming; inverted pendulum; linear matrix inequality; linear visual servoing; optimal quadratic regulator controller; robust stability; suboptimal control; underactuated system; Control system synthesis; Delay systems; Dynamic programming; Linear matrix inequalities; Optimal control; Regulators; Robust stability; Robustness; Sufficient conditions; Visual servoing; Delay; inverted pendulum; robust stability; suboptimal control; underactuated system; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Computer (CONIELECOMP), 2010 20th International Conference on

Conference_Location

Cholula

Print_ISBN

978-1-4244-5352-8

Electronic_ISBN

978-1-4244-5353-5

Type

conf

DOI

10.1109/CONIELECOMP.2010.5440790

Filename

5440790