Title :
Visual Servoing for an Inverted Pendulum Using a Digital Signal Processor
Author :
Espinoza-Quesada, E.S. ; Ramos-Velasco, L.E.
Author_Institution :
Dept. of Control & Autom., Autonomous Univ. of the State of Hidalgo
Abstract :
This paper discusses the visual servo control of the inverted pendulum system under fixed-camera configuration. The control goal is to stabilize the system using a vision system equipped with a fixed camera to observe the system and a digital signal processor. It presents a control scheme based on the combination of a linear control and the visual feedback. The paper ends with the presentation of several experimental results
Keywords :
feedback; linear systems; nonlinear control systems; pendulums; position control; stability; visual servoing; digital signal processor; fixed-camera configuration; inverted pendulum system; linear control; system stabilization; vision system; visual feedback; visual servo control; visual servoing; Actuators; Automatic control; Cameras; Control systems; Digital signal processing; Digital signal processors; Linear feedback control systems; Nonlinear dynamical systems; Robot sensing systems; Visual servoing; DSP´s; Visual servoing; underactuated systems;
Conference_Titel :
Signal Processing and Information Technology, 2006 IEEE International Symposium on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-9753-3
Electronic_ISBN :
0-7803-9754-1
DOI :
10.1109/ISSPIT.2006.270773
