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

研究成果 › 査読

2 被引用数 (Scopus)

抄録

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.

本文言語	English
ページ	1561-1566
ページ数	6
DOI	https://doi.org/10.1109/IECON.2009.5414736
出版ステータス	Published - 12月 1 2009
外部発表	はい
イベント	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto 継続期間: 11月 3 2009 → 11月 5 2009

Other

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

ASJC Scopus subject areas

制御およびシステム工学
電子工学および電気工学

文献へのアクセス

10.1109/IECON.2009.5414736

他のファイルとリンク

引用スタイル

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