Neural identification for visual servo control of an underactuated system

This paper presents a scheme of neuro identifier for control using visual servoing for a underactuated electromechanical system (inverted pendulum). The neuro identifier receives information about position and angle of the plant as well as the control input through fixed camera, then a model based l...

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Bibliographic Details
Main Authors: Aranda Lopez, Nahum J., Ramos Velasco, Luis E., Cansino, Joel Suarez
Format: Conference Proceeding
Language:English
Subjects:
Artificial neural networks
Biological neural networks
Cameras
Control systems
DSP's
Image edge detection
Linear control
neural network identification
Pendulums
Power plants
Sensors
Servocontrol
Servomechanisms
underactuated systems
Visual
Visual servoing
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Description
Summary:This paper presents a scheme of neuro identifier for control using visual servoing for a underactuated electromechanical system (inverted pendulum). The neuro identifier receives information about position and angle of the plant as well as the control input through fixed camera, then a model based linear control (LQR) is developed.
DOI:10.23919/ECC.2007.7068663