Real-Time H∞ Control of Networked Inverted Pendulum Visual Servo Systems
Dajun Du, Changda Zhang, Yuehua Song, Huiyu Zhou, Xue Li, Minrui Fei, Wangpei Li · IEEE Transactions on Cybernetics · 2019
Aiming at the challenges of networked visual servo control systems, which rarely consider network communication duration and image processing computational cost simultaneously, we here propose a novel platform for networked inverted pendulum visual servo control using H∞ analysis. Unlike most of the existing methods that usually ignore computational costs involved in measuring, actuating, and controlling, we design a novel event-triggered sampling mechanism that applies a new closed-loop strategy to dealing with networked inverted pendulum visual servo systems of multiple time-varying delays and computational errors. Using the Lyapunov stability theory, we prove that the proposed system can achieve stability whilst compromising image-induced computational and network-induced delays and system performance. In the meantime, we use H∞disturbance attenuation level γ for evaluating the computational errors, whereas the corresponding H∞controller is implemented. Finally, simulation analysis and experimental results demonstrate the proposed system performance in reducing computational errors whilst maintaining system efficiency and robustness.