Abstract
SUMMARYIn this contribution, a suboptimal robust control law for a specific class of underactuated delayed system is synthesized. The control strategy based on very well‐known results for delay‐dependent stability considers the time delay involved in the dynamical system, which affects to control signal. This contribution illustrates how the theoretical results can be used to improve the real‐time performance of the closed‐loop system considered. The delay is introduced into the control system by the vision module, due to the time required to perform the image treatment. In order to show the good performance of the control law proposed, real‐time experiments are developed by applying a visual servoing technique on the cart‐inverted pendulum system. Obtained results also illustrate how the conservativeness of theoretical results affects the performance of the closed‐loop system and the negative effects of delays in the control loop. Furthermore, a robust stability analysis is done to establish the robustness of control law with respect to the amount of delay presented in the system.Copyright © 2012 John Wiley & Sons, Ltd.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
