Modeling and Trajectory Tracking Control of a 2-DOF Vision Based Inverted Pendulum
- Authors
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Haoping Wang
LAGIS-CNRS FRE 3303, Universite des Sciences et Technologies de Lille, UFR IEEA, 59655 Villeneuve d'Ascq Cedex, France
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Christian Vasseur
LAGIS-CNRS FRE 3303, Universite des Sciences et Technologies de Lille, UFR IEEA, 59655 Villeneuve d'Ascq Cedex, France
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Vladan Koncar
GEMTEX, Ecole Nationale Superieure des Arts et Industries Textiles, 9 rue de l'Ermitage, 59056 Roubaix, France
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Afzal Chamroo
LAII, Universite de Poitiers, 40, avenue du recteur Pineau, 86022 Poitiers, France
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Nicolai Christov
LAGIS-CNRS FRE 3303, Universite des Sciences et Technologies de Lille, UFR IEEA, 59655 Villeneuve d'Ascq Cedex, France
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- Abstract
- This paper presents a new modelling and trajectory tracking control system of a 2-DOF inverted pendulum using a contactless feedback with a low cost CCD camera. The proposed modelling method transforms the 2-DOF problem into a 1-DOF one by choosing a new balancing plane for the pendulum at each camera sampling instant. For a given plane, two feedback loops are considered. The first one, which is an observation loop, processes the delayed and sampled angle information delivered by the artificial vision system so as to set up a stable linear model of the pendulum and to estimate its continuous state by means of a specific observer called Piecewise Continuous Observer. The second loop, which is a stabilization loop, realizes a Lyapunov function based control to stabilize the cart-pendulum system. Simulation results illustrate the performances of the proposed approach.
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- Published
- 2010-09-25
- Issue
- Vol. 12 No. 3 (2010)
- Section
- Articles