Design and Implementation of Robust Hybrid Control of Vision Based Underactuated Mechanical Nonminimum Phase Systems

@inproceedings{Wang2010DesignAI,
  title={Design and Implementation of Robust Hybrid Control of Vision Based Underactuated Mechanical Nonminimum Phase Systems},
  author={Haoping Wang and Christian Vasseur and Vladan Koncar and Afzal Chamroo and N. Christov},
  year={2010}
}
This paper presents a vision based Cart-Inverted Pendulum (CIP) system under a hybrid feedback configuration: the continuous cart’s position measured by encoder and the delayed & sampled inverted pendulum’s upper coordinates, obtained from a visual sensor. The challenge here is to stabilize the CIP from a big inclined initial angle by using a low cost CCD camera. Under this scheme, we propose a hybrid control which consists in a Jumpingup (Bang-Bang) control and a two causal stabilization loops… CONTINUE READING

Citations

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Stability and stabilization for visual servo inverted pendulum system with random image processing time delay

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Variable sampled delayed feedback observer design for networked visual servoing systems

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Visual servoing using discrete wavelet transform

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