TY - GEN
T1 - Robust visual feedback control of inverted pendulum system against camera misalignment
AU - Hirata, Kentaro
AU - Mizuno, Takashi
PY - 2008/12/1
Y1 - 2008/12/1
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
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U2 - 10.1109/AMC.2008.4516058
DO - 10.1109/AMC.2008.4516058
M3 - Conference contribution
AN - SCOPUS:70350442354
SN - 9781424417032
T3 - International Workshop on Advanced Motion Control, AMC
SP - 153
EP - 158
BT - AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
T2 - 10th International Workshop on Advanced Motion Control, AMC'08
Y2 - 26 March 2008 through 28 March 2008
ER -