Robust visual feedback control of inverted pendulum system against camera misalignment

Kentaro Hirata, Takashi Mizuno

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

5 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages153-158
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: Mar 26 2008Mar 28 2008

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period3/26/083/28/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Hirata, K., & Mizuno, T. (2008). Robust visual feedback control of inverted pendulum system against camera misalignment. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 153-158). [4516058] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516058