Suboptimal robust linear Visual Servoing for an underactuated system with delays

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-de...

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Bibliographic Details
Main Authors: Benitez-Morales, A., Santos, O., Ramos-Velasco, L.E.
Format: Conference Proceeding
Language:English
Subjects:
Control system synthesis
Delay
Delay systems
Dynamic programming
inverted pendulum
Linear matrix inequalities
Optimal control
Regulators
Robust stability
Robustness
suboptimal control
Sufficient conditions
underactuated system
Visual servoing
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Summary: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.
DOI:10.1109/CONIELECOMP.2010.5440790