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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages153-158
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: Mar 26 2008Mar 28 2008

Other

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

Fingerprint

Inverted Pendulum
Misalignment
Pendulums
Feedback Control
Feedback control
Camera
Cameras
Perturbation
Dynamic Output Feedback
Robust Stabilization
Normal vector
State-space Model
Experiment
Stabilization
Experiments
Feedback
Controller
Controllers
Vision
Design

ASJC Scopus subject areas

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

Cite this

Hirata, K., & Mizuno, T. (2008). Robust visual feedback control of inverted pendulum system against camera misalignment. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 153-158). [4516058] https://doi.org/10.1109/AMC.2008.4516058

Robust visual feedback control of inverted pendulum system against camera misalignment. / Hirata, Kentaro; Mizuno, Takashi.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 153-158 4516058.

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

Hirata, K & Mizuno, T 2008, Robust visual feedback control of inverted pendulum system against camera misalignment. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516058, pp. 153-158, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 3/26/08. https://doi.org/10.1109/AMC.2008.4516058
Hirata K, Mizuno T. Robust visual feedback control of inverted pendulum system against camera misalignment. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 153-158. 4516058 https://doi.org/10.1109/AMC.2008.4516058
Hirata, Kentaro ; Mizuno, Takashi. / Robust visual feedback control of inverted pendulum system against camera misalignment. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 153-158
@inproceedings{9caa225787624dad9ab18b0f3f0f73f9,
title = "Robust visual feedback control of inverted pendulum system against camera misalignment",
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.",
author = "Kentaro Hirata and Takashi Mizuno",
year = "2008",
doi = "10.1109/AMC.2008.4516058",
language = "English",
isbn = "9781424417032",
volume = "1",
pages = "153--158",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Robust visual feedback control of inverted pendulum system against camera misalignment

AU - Hirata, Kentaro

AU - Mizuno, Takashi

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=70350442354&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350442354&partnerID=8YFLogxK

U2 - 10.1109/AMC.2008.4516058

DO - 10.1109/AMC.2008.4516058

M3 - Conference contribution

AN - SCOPUS:70350442354

SN - 9781424417032

VL - 1

SP - 153

EP - 158

BT - International Workshop on Advanced Motion Control, AMC

ER -