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Design and implementation of robust visual servoing control of an inverted pendulum with an FPGA-based image co-processor
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ho, Ming-Tzu |
| Copyright Year | 2011 |
| Abstract | Abstract This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system. The pendulum used in the proposed system is much shorter than those used in published vision-based pendulum control system studies, which makes the system more difficult to control. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enhance robustness to model uncertainty and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H 2 / H ∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through simulation and experimental studies. The experimental results show that the designed system can robustly control an inverted pendulum in real-time. |
| Starting Page | 1170 |
| Ending Page | 1182 |
| Page Count | 13 |
| File Format | PDF HTM / HTML |
| DOI | 10.1016/j.mechatronics.2011.07.011 |
| Volume Number | 21 |
| Alternate Webpage(s) | http://www.tpbin.com/Uploads/Subjects/3e3b20eb-079d-45e5-a639-a24d5542737a.pdf |
| Alternate Webpage(s) | https://doi.org/10.1016/j.mechatronics.2011.07.011 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
