Design and implementation of robust visual servoing control of an inverted pendulum with an FPGA-based image co-processor

Yi Wei Tu, Ming Tzu Ho

Research output: Contribution to journalArticlepeer-review

26 Citations (Scopus)

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 languageEnglish
Pages (from-to)1170-1182
Number of pages13
JournalMechatronics
Volume21
Issue number7
DOIs
Publication statusPublished - 2011 Oct

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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