Title :
Robust visual feedback control of inverted pendulum system against camera misalignment
Author :
Hirata, Kentaro ; Mizuno, Takashi
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara
Abstract :
In this paper, we investigate a version of robust stabilization via dynamic output feedback against affine perturbation to state space model. The motivation arises from the fact that the misalignment between the camera axis and the normal vector of the measurement plane in our visual feedback control experiment with inverted pendulum system can be modeled by this kind of perturbation. By solving related BMI, one can design a controller which tolerate the camera misalignment to some extent. The result is verified via experiments.
Keywords :
control system synthesis; feedback; linear matrix inequalities; nonlinear control systems; pendulums; stability; state-space methods; BMI; affine perturbation; bilinear matrix inequalities; camera misalignment; controller design; dynamic output feedback; inverted pendulum system; robust stabilization; robust visual feedback control; state space model; Angular velocity; Cameras; Costs; DC motors; Feedback control; Mechatronics; Output feedback; Robust control; Sampling methods; Universal Serial Bus;
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
DOI :
10.1109/AMC.2008.4516058
