ICONS 2019 Paper Abstract

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Paper FrA2NC.1

Song, Yuehua (Shanghai University), Du, Dajun (Queen's University Belfast), Sun, Qing (Shanghai University), Zhou, Huiyu (University of Leicester), Fei, Minrui (Shanghai University)

Sliding Mode Variable Structure Control for Inverted Pendulum Visual Servo Systems

Scheduled for presentation during the Regular Session "Nonlinear control and applications" (FrA2NC), Friday, August 23, 2019, 11:20−11:40,

5th IFAC International Conference on Intelligent Control and Automation Sciences, August 21-23, 2019, Queen’s University Belfast, Northern Ireland

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Awareness for computational issues, Robust control, Stability / stabilization analysis

Abstract

This paper investigates the Sliding Mode Variable Structure Control (SMVSC) for a class of typical Cyber-Physical Systems (CPSs), Inverted Pendulum Visual Servo Systems (IPVSSs). In the current CPSs SMVSC studies, the visual servo is rarely involved and there is a lack of the corresponding verification platform. In this paper, we propose an SMVSC algorithm for the self-developed IPVSS to encounter the time-varying Image Processing Computation Delay (IPCD) caused by visual servo. Within this framework, a linear sliding surface is constructed based on the Ackermann pole assignment method and an SMVSC law is given. In addition, the relationship between the IPCD and the stability of sliding motion on the specified linear sliding surface is quantified. Furthermore, we prove that the designed SMVSC law can guarantee the system state to reach the linear sliding surface in a finite time and remain stable for all subsequent time. Finally, the simulation and real-time control experiments verify the feasibility and effectiveness of the proposed method.

 

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