H∞ synthesis of visual feedback systems under camera misalignment

Kentaro Hirata; Takashi Mizuno

doi:10.1109/IECON.2009.5414736

H^∞ synthesis of visual feedback systems under camera misalignment

Kentaro Hirata, Takashi Mizuno

Research output: Contribution to conference › Paper › peer-review

2 Citations (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 language	English
Pages	1561-1566
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5414736
Publication status	Published - Dec 1 2009
Externally published	Yes
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: Nov 3 2009 → Nov 5 2009

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	11/3/09 → 11/5/09

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5414736

Cite this

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title = "H∞ synthesis of visual feedback systems under camera misalignment",

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.",

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