H∞ synthesis of visual feedback systems under camera misalignment

Kentaro Hirata, Takashi Mizuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1561-1566
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: Nov 3 2009Nov 5 2009

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period11/3/0911/5/09

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hirata, K., & Mizuno, T. (2009). H∞ synthesis of visual feedback systems under camera misalignment. In IECON Proceedings (Industrial Electronics Conference) (pp. 1561-1566). [5414736] https://doi.org/10.1109/IECON.2009.5414736