Stability and Stabilization for Visual Servo Inverted Pendulum System with Random Image Processing Time Delay

被引：0

作者：

Zhan, Guohua ^{[1
]}

Du, Dajun ^{[1
]}

Fei, Minrui ^{[1
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai Key Lab Power Stn Automat Technol, Shanghai 200072, Peoples R China

来源：

IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2017年

基金：

国家高技术研究发展计划(863计划); 美国国家科学基金会;

关键词：

visual servo; inverted pendulum; image processing time delay; Markov chain; stochastic stability; NETWORKED CONTROL-SYSTEMS; IMPLEMENTATION; DESIGN;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper is concerned with the stability for visual servo inverted pendulum system with variable image processing time delay. Firstly, the image processing time delay is inevitably introduced in visual servo inverted pendulum system due to the visual feedback, where its upper and lower bounds are obtained via the statistics analysis on time delay data. Specially, a Markov chain is then employed to describe the characters of image processing time delay. Furthermore, a discrete model of inverted pendulum system with time-varying image processing time delay is presented and the state-feedback controller is designed. Finally, simulation results confirm the feasibility and effectiveness of the proposed method.

引用

页码：4325 / 4330

页数：6

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