Visual servoing for an inverted pendulum using a digital signal processor

Sixth IEEE International Symposium on Signal Processing and Information Technology, ISSPIT

Volumn , Issue , 2006, Pages 76-80

  Espinoza Quesada, E S ^a   Ramos Velasco, L E ^a  

^a UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO   (Mexico)

Author keywords

DSP's; Underactuated systems; Visual servoing

Indexed keywords

DIGITAL SIGNAL PROCESSORS; FEEDBACK; LINEAR CONTROL SYSTEMS; SYSTEM STABILITY;

INVERTED PENDULUM; UNDERACTUATED SYSTEMS; VISION SYSTEM;

VISUAL SERVOING;

EID: 44449139062     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISSPIT.2006.270773     Document Type: Conference Paper

References (25)

1. N.A. Andersen, O. Ravn and A.T. Sorensen, "Real-Time Vision Based Control of Servomechanical Systems", The 2nd International Symposium Experimental Robotics, 1991.
2. R.L. Andersson, "Alow-Latency 60 Hz Stero Vision System for Real-Time Visual Control" The 5th International Symposium on Intelligent Control, 1990.
3. P.I. Corke and M.C. Good, "Dynamic Effects in High-Performance Visual Servoing". The IEEE International Conference on Robotics and Automation, Nice, France, pp. 1838-1843, 1992.
4. P.I. Corke, G.D. Hager and S. Hutchinson, Visual Control of Robots: High-Performance Servoing, John Wiley, Great Britain, 1996.
5. P.I. Corke, G.D Hager and S. Hutchinson, "A Tutorial on Visual Servo Control", IEEE Transactions on Robotics and Automation, Vol. 12, pp. 651-670, 1996.
6. J.J Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley, 1989.
7. A. Espejel-Rivera and L. E. Ramos-Velasco, "Visual Servo Control for an Underactuated System", Research on Computing Science, CIC-IPN, pp. 207-214, 2004.
8. A. Espejel-Rivera, L.E. Ramos-Velasco, S. Celikovsky, "Visual Servoing for an Underactuated Manipulator, The 16th IFAC World Congress, 2005
9. E.S. Espinoza-Quesada and L.E. Ramos-Velasco, "Vision Based Control of an Underactuated System Using a Reduced Observer", Congreso de Electrónica, Robótica y Mecánica Automotriz (CERMA 2006), Cuernavaca, Morelos, 26-29 Septiembre, 2006.
10. I. Fantoni and R. Lozano, Non-linear Control for Underactuated Mechanical System, Springer Verlang, London, 2002.
11. T. Hamel and R. Mahony, "Visual Servoing of a Class of Under-Actuated Dynamic Rigid-Body System", The 39th IEEE Conference on Decision and Control, Sydney, Australia, 2000.
12. A. Isidori, Nonlinear Control Systems, Springer-Verlag, New York, 1995.
13. R. Kelly, "Robust Asymptotically Stable Visual Servoing of Planar Robots", IEEE Transactions on Robotics and Automation, Vol. 12, pp. 759-766, 1996.
14. R. Lozano and I. Fantoni, "Stabilization of the Inverted Pendulum Around its Homoclinic Orbit", System and Control Letters, Vol. 40, pp. 197-204, 2002.
15. Y. A. Montes-Austria, E.S. Espinoza-Quesada and L.E. Ramos-Velasco, "Visual Servoing for an Inverted Pendulum Using 2D Wavelet Transform", International Symposium on Robotics and Automation (ISRA 2006), San Miguel Regla, Hidalgo, 25-28 August, 2006.
16. L.E. Ramos, B. Castillo-Toledo and S. Negrete, "Nonlinear Regulation of a Seesaw-Inverted Pendulum", The IEEE International Conference on Control Applications, Trieste, Italy, 1998.
17. L.E. Ramos, B. Castillo-Toledo and J. Álvarez, "Nonlinear Regulation of an Underactueted System", The IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp. 3288-3293, 1997.
18. L.E. Ramos-Velasco, J.J Ruíz-León and S. Celikovský, "Rotary Inverted Pendulum: Trayectory Tracking Via Nonlinear Control Techniques", Kybernetika, Vol. 38, pp. 217-232, 2002.
19. M. Reyhanoglu, A.J. Van der Schaft, N.H. McClamroch and I. Kolmanovsky, "Dynamics and Control of a Class of Underactuated Mechanical Systems", Transactions on Automatic Control, 1663-1671, 1999.
20. H. Shim, T. Koo, F. Hoffmann and S. Sastry, "A Comprehensive Study of Control Design for an Autonomous Helicopter", The 37th IEEE Conference on Decision and control, 1998.
21. M. W Spong, and M. Vidyasaga, Robot Dynamics and Control, John Wiley and Sons, New York, 1989.
22. M.W. Spong, "The Swing Up Control of the Acrobot", The IEEE International Conference on Robotics and Automation, San Diego, CA., 1994.
23. M.W. Spong and D.J. Block, "The Pendubot: A Mechatronic System for Control Research and Education", The 34th IEEE Conference on Decision and Control, 1995.
24. H. Zhang and J.P Ostrowski, "Visual Servoing with Dynamics: Control of an Unmanned Blimp", The IEEE International Conference on Robotics and Automation, Detroit, Michgan, 1999.
25. TMS320C6711, "User's Guide", Texas Instruments, Inc., Dallas, TX., 2001.