{"title":"Experimental results: Suboptimal robust linear visual servoing with delay for an underactuated system","authors":"A. Benítez-Morales, O. Santos, L. Ramos-Velasco","doi":"10.1109/MMAR.2010.5587251","DOIUrl":null,"url":null,"abstract":"This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 15th International Conference on Methods and Models in Automation and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2010.5587251","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.
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