Title :
Neural identification for visual servo control of an underactuated system
Author :
Aranda Lopez, Nahum J. ; Ramos Velasco, Luis E. ; Suarez Cansino, Joel
Author_Institution :
Master Degree Program in Autom. & Control, Autonomous Univ. of the State of Hidalgo, Pachuca, Mexico
Abstract :
This paper presents a scheme of neuro identifier for control using visual servoing for a underactuated electromechanical system (inverted pendulum). The neuro identifier receives information about position and angle of the plant as well as the control input through fixed camera, then a model based linear control (LQR) is developed.
Keywords :
cameras; electromechanical actuators; linear quadratic control; neurocontrollers; nonlinear systems; pendulums; servomechanisms; visual servoing; LQR; camera; inverted pendulum; model based linear control; neural identification; neuro indetifier; underactuated electromechanical system; underactuated system; visual servo control; visual servoing; Artificial neural networks; Biological neural networks; Cameras; Control systems; Image edge detection; Sensors; DSP´s; Visual servoing; neural network identification; underactuated systems;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
