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Suboptimal robust linear Visual Servoing for an underactuated system with delays

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3 Author(s)
Benitez-Morales, A. ; Univ. Autonoma del Estado de Hidalgo, Hidalgo, Mexico ; Santos, O. ; Ramos-Velasco, L.E.

This article synthesized suboptimal control for an underactuated system with delays; it also presents a robust stability dependent to delay. Using dynamic programming, an optimal quadratic regulator (LQR) controller is synthesized, which is then applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for both time-invariant case and for time-variant case. We presented an application in Visual Servoing for the inverted pendulum.

Published in:
Electronics, Communications and Computer (CONIELECOMP), 2010 20th International Conference on

Date of Conference: 22-24 Feb. 2010

Page(s):
79 - 84
E-ISBN :
978-1-4244-5353-5
Print ISBN:
978-1-4244-5352-8
INSPEC Accession Number:
11208939
Conference Location :
Cholula
Digital Object Identifier :
10.1109/CONIELECOMP.2010.5440790
Product Type:
Conference Publications

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