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

fYear

2006

fDate

Aug. 2006

Firstpage

76

Lastpage

80

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISSPIT.2006.270773

Filename

4042215