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Real-Time H∞ Control of Networked Inverted Pendulum Visual Servo Systems

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posted on 06.06.2019, 09:18 by D Du, C Zhang, Y Song, H Zhou, X Li, M Fei, W Li
Aiming at the challenges of networked visual servo control systems, which rarely consider network communication duration and image processing computational cost simultaneously, we here propose a novel platform for networked inverted pendulum visual servo control using H∞ analysis. Unlike most of the existing methods that usually ignore computational costs involved in measuring, actuating and controlling, we design a novel event-triggered sampling mechanism that applies a new closed-loop strategy to dealing with networked inverted pendulum visual servo systems of multiple time-varying delays and computational errors. Using Lyapunov stability theory, we prove that the proposed system can achieve stability whilst compromising image-induced computational and network-induced delays and system performance. In the meantime, we use H∞ disturbance attenuation level γ for evaluating the computational errors, whereas the corresponding H∞ controller is implemented. Finally, simulation analysis and experimental results demonstrate the proposed system performance in reducing computational errors whilst maintaining system efficiency and robustness.


The work of D. Du, C. Zhang, Y. Song, X. Li, M. Fei and W. Li was supported by the National Science Foundation of China under Grant Nos. 61773253, 61633016, 61533010 and 61473182, 111 Project under Grant No.D18003. The work of H. Zhou was supported by UK EPSRC under Grant EP/N011074/1, Royal Society-Newton Advanced Fellowship under Grant NA160342, and European Union’s Horizon 2020 research and innovation program under the Marie-Sklodowska-Curie grant agreement No.720325.



IEEE Transactions on Cybernetics, 2019,

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/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Informatics


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IEEE Transactions on Cybernetics


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