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.
Original language | English |
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Pages (from-to) | 1170-1182 |
Number of pages | 13 |
Journal | Mechatronics |
Volume | 21 |
Issue number | 7 |
DOIs | |
Publication status | Published - 2011 Oct |
All Science Journal Classification (ASJC) codes
- Mechanical Engineering
- Computer Science Applications
- Electrical and Electronic Engineering