Research of visual real-time control for an inverted pendulum with time-varying computational delay
DU Da-jun
LI Wang-pei
ZHAN Bin
FEI Min-rui
Abstract：In inverted pendulum visual real-time control system, the sampling period and performance of control system are directly affected by the time-varying image processing computational time from measuring cart position and pendulum angular from each image. Unlike the existing methods on inverted pendulum visual servoing control system without considering image processing computational time or with constant image processing computational time, an experimental inverted pendulum visual servoing control platform is constructed firstly. Considering the characters of the pendulum and the cart, a real-time calculation method for cart position and pendulum angular are then proposed, and the event-triggered sampling mechanism of visual sensor is designed according to the statistical character of image processing computational time. Furthermore, image processing computational time is converted to time-varying delay, and a closed loop control system model of inverted pendulum system with time-varying delay is established. The system stability is proved, while the system stability condition reflects the relationship between time-varying computational delay and system performance. Finally, simulation and experimental results confirm the feasibility and effectiveness of the proposed method.
Keywords：inverted pendulumvisual servoingimage processingcomputational timetime-varying delay
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 986-995 )