变转动惯量悬浮机器人视觉反馈控制的实验验证

2019 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2019-02-01 DOI:10.1109/ICIT.2019.8755105

K. Hatada, K. Hirata

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引用次数: 0

摘要

本文研究了一个包含增益调度概念的视觉反馈控制问题。具体来说，我们重点研究了在图像畸变情况下具有变转动惯量的悬垂机器人的稳定问题。在之前的工作中，我们针对上述情况提出了控制器的设计方法。本文通过实验验证了设计方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Experimental Verification of Visual Feedback Control for a Pendubot with Varying Moment of Inertia

This paper considers a visual feedback control problem incorporating the gain-scheduling concept. Specifically, we focus on the stabilization of a pendubot with varying moment of inertia under image distortion. In our previous work, we proposed the controller design method for the above situation. In this paper, the effectiveness of our design method is verified through experiments.

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2019 IEEE International Conference on Industrial Technology (ICIT)

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