Visual feedback control of a pendubot with varying moment of inertia
Visual feedback control of a pendubot with varying moment of inertia
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DOI：
10.1109/ascc.2017.8287536
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发表时间：
2017-12
期刊：
影响因子：
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通讯作者：
K. Hatada;K. Hirata
中科院分区：
文献类型：
--
作者：
K. Hatada;K. Hirata
本文研究了部分已知变参数对象的增益调度输出反馈控制器的综合问题。此类问题的一个实际例子是图像失真下具有不同结构的植物的视觉反馈稳定。通过对转动惯量变化的摆臂机器人的数值仿真，验证了所提出的矩阵不等式条件的有效性。
This paper considers the synthesis problem of gain-scheduled output feedback controllers for a plant with partially known varying parameters. A practical example of the problems of this type is the visual feedback stabilization of plants with varying structure under image distortion. The effectiveness of the proposed matrix inequality condition is verified through numerical simulations with a pendubot whose moment of inertia is under change.