• DocumentCode
    3499959
  • Title

    H∞ synthesis of visual feedback systems under camera misalignment

  • Author

    Hirata, Kentaro ; Mizuno, Takashi

  • Author_Institution
    Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma, Japan
  • fYear
    2009
  • fDate
    3-5 Nov. 2009
  • Firstpage
    1561
  • Lastpage
    1566
  • Abstract
    In this paper, we consider visual feedback stabilization of a cart-pendulum system. Misalignment between the camera axis and the normal vector of the measurement plane is naturally represented by affine perturbations to the state space model. Motivated by this fact, robust dynamic output feedback stabilization against affine perturbations to state space matrices is investigated. By solving related BMI, one can design a controller which tolerate the camera misalignment to some extent. The result is verified via experiments.
  • Keywords
    H∞ control; affine transforms; cameras; control system synthesis; feedback; matrix algebra; pendulums; perturbation techniques; robust control; state-space methods; BMI; H∞ synthesis; affine perturbations; camera misalignment; cart-pendulum system; controller design; measurement plane; robust dynamic output feedback stabilization; state space matrices; state space model; visual feedback stabilization; visual feedback systems;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
  • Conference_Location
    Porto
  • ISSN
    1553-572X
  • Print_ISBN
    978-1-4244-4648-3
  • Electronic_ISBN
    1553-572X
  • Type

    conf

  • DOI
    10.1109/IECON.2009.5414736
  • Filename
    5414736
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3499959