Title :
H∞ synthesis of visual feedback systems under camera misalignment
Author :
Hirata, Kentaro ; Mizuno, Takashi
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma, Japan
Abstract :
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.
Keywords :
H∞ control; affine transforms; cameras; control system synthesis; feedback; matrix algebra; pendulums; perturbation techniques; robust control; state-space methods; BMI; H∞ synthesis; affine perturbations; camera misalignment; cart-pendulum system; controller design; measurement plane; robust dynamic output feedback stabilization; state space matrices; state space model; visual feedback stabilization; visual feedback systems;
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2009.5414736
