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Guaranteed Cost Control of Networked Inverted Pendulum Visual Servo System with Computational Errors and Multiple Time−Varying Delays

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Intelligent Equipment, Robots, and Vehicles (LSMS 2021, ICSEE 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1469))

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Abstract

Computational errors and multiple time−varying delays will inevitably affect control performance of networked inverted pendulum visual servo system (NIPVSS). This paper investigates guaranteed cost control of NIPVSS. Firstly, computational errors is converted into parameter uncertainties and NIPVSS is then modeled as a closed-loop system with parameter uncertainties and multiple time−varying delays. Secondly, a guarantee cost controller is designed to maintain the asymptotic stability of NIPVSS and meanwhile minimize the performance index. Finally, experimental results demonstrate the feasibility of the proposed method while the effectiveness of parameter uncertainties and multiple time−varying delays on the system stability and performance index are analyzed.

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Acknowledgments

This work is supported by Project of Science and Technology Commission of Shanghai Municipality, China (19510750300, 20JC1414000, 195007 12300), the National Natural Science Foundation of China (92067106), and 111 Project (D18003).

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Authors and Affiliations

  1. Shanghai Key Laboratory of Power Station Automation Technology, School of Mechanical Engineering and Automation, Shanghai University, Shanghai, 200072, People’s Republic of China

    Qianjiang Lu, Dajun Du, Changda Zhang & Minrei Fei

  2. School of Electrical Engineering, University of Belgrade, Bulevar Kralja Aleksandra 73, 11000, Belgrade, Serbia

    Aleksandar Rakić

Authors
  1. Qianjiang Lu
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  2. Dajun Du
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  3. Changda Zhang
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  4. Minrei Fei
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  5. Aleksandar Rakić
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Corresponding author

Correspondence to Dajun Du .

Editor information

Editors and Affiliations

  1. Swinburne University of Technology, Melbourne, VIC, Australia

    Qinglong Han

  2. Queen's University Belfast, Belfast, UK

    Sean McLoone

  3. Shanghai University, Shanghai, China

    Chen Peng

  4. Qingdao University of Science and Technology, Qingdao, China

    Baolin Zhang

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Lu, Q., Du, D., Zhang, C., Fei, M., Rakić, A. (2021). Guaranteed Cost Control of Networked Inverted Pendulum Visual Servo System with Computational Errors and Multiple Time−Varying Delays. In: Han, Q., McLoone, S., Peng, C., Zhang, B. (eds) Intelligent Equipment, Robots, and Vehicles. LSMS ICSEE 2021 2021. Communications in Computer and Information Science, vol 1469. Springer, Singapore. https://doi.org/10.1007/978-981-16-7213-2_56

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  • DOI: https://doi.org/10.1007/978-981-16-7213-2_56

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-7212-5

  • Online ISBN: 978-981-16-7213-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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