Title :
Experimental results: Suboptimal robust linear visual servoing with delay for an underactuated system
Author :
Benitez-Morales, A. ; Santos, Omar ; Ramos-Velasco, L.E.
Author_Institution :
Centro de Investig. en Tecnol. de Informacion y Sist., Univ. Autonoma del Estado de Hidalgo, Pachuca de Soto, Mexico
Abstract :
This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.
Keywords :
delays; dynamic programming; linear matrix inequalities; linear quadratic control; suboptimal control; delay; dynamic programming; inverted pendulum; linear matrix inequality; linear quadratic regulator controller; suboptimal control; underactuated system; visual servoing; Cameras; Delay; Image processing; Mathematical model; Optimal control; Robust stability; Visual servoing;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2010 15th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4244-7828-6
DOI :
10.1109/MMAR.2010.5587251
