Design and implementation of DSP and FPGA-based robust visual servoing control of an inverted pendulum

Yi Wei Tu, Ming-Tzu Ho

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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 whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce 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 H2/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 experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time.

原文English
主出版物標題2010 IEEE International Conference on Control Applications, CCA 2010
頁面83-88
頁數6
DOIs
出版狀態Published - 2010 十二月 1
事件2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
持續時間: 2010 九月 82010 九月 10

出版系列

名字Proceedings of the IEEE International Conference on Control Applications

Other

Other2010 IEEE International Conference on Control Applications, CCA 2010
國家/地區Japan
城市Yokohama
期間10-09-0810-09-10

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 數學(全部)

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