Title :
Vision Based Control of an Underactuated System Using a Reduced Observer
Author :
Espinoza-Quesada, E.S. ; Ramos-Velasco, L.E.
Author_Institution :
Res. Center in Inf. Technol. & Syst., Autonomous Univ. of the State of Hidalgo
Abstract :
We present a simulation and partial experimental results in visual servo control of an underactuated system with a dynamic feedback controller from an uncalibrated camera. We incorporate a richer sensing, such as vision, into traditional feedback control schemes
Keywords :
computer vision; control system analysis; feedback; observers; reduced order systems; visual servoing; dynamic feedback controller design; inverted pendulum system; reduced observer; uncalibrated camera; underactuated system; vision based control; Automatic control; Cameras; Control systems; Feedback control; Nonlinear dynamical systems; Open loop systems; Robot sensing systems; Robot vision systems; Vehicle dynamics; Visual servoing;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2006
Conference_Location :
Cuernavaca
Print_ISBN :
0-7695-2569-5
DOI :
10.1109/CERMA.2006.99
