Synthesis of a calibration-free visual feedback controller for an inverted pendulum using a fisheye lens
Synthesis of a calibration-free visual feedback controller for an inverted pendulum using a fisheye lens
复制标题
使用鱼眼镜头合成倒立摆免校准视觉反馈控制器
DOI：
10.1109/tie.2021.3127034
复制
发表时间：
2021
影响因子：
7.7
通讯作者：
Kentaro Hirata and Yoichiro Masui
中科院分区：
文献类型：
--
作者：
Kazuyoshi Hatada;Masayuki Sato;Kentaro Hirata and Yoichiro Masui
本文考虑一类反馈控制器的综合，其中强鲁棒稳定性要求对传感误差。处理这类的动机来自于稳定问题的车驱动倒立摆视觉反馈控制使用鱼眼透镜。虽然鱼眼镜头保证了宽视角，但在偏离中心区域的大图像失真是不可避免的。因此本研究首先利用一般鱼眼透镜模型推导出摆角的几何量测模型。然后提出了一种新的鲁棒控制器的设计方法。最后，设计了一个允许透镜畸变的鲁棒反馈控制器。通过数值仿真和实验验证了基于所提出的模型和设计方法的控制器的有效性。
This article considers the synthesis of feedback controllers for a class in which strong robust stability is required against sensing errors. The motivation dealing with this class arises from the stabilization problem of a cart-driven inverted pendulum by visual feedback control using a fisheye lens. While fisheye lenses guarantee a wide-angle of view, a large image distortion at off-center area is inevitable. Therefore this study first derives a geometric measurement model of a pendulum angle using a general fisheye lens model. A new design method for robust controllers for our problem is then proposed. Finally, a robust feedback controller that allows lens distortion is designed. The effectiveness of the controller based on the proposed model and the proposed design method is verified through numerical simulations and experiments.