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Design and Implementation of DSP and FPGA-Based Robust Visual Servoing Control of an Inverted Pendulum

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Academic year: 2021

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(1)Design and Implementation of DSP and FPGA-Based Robust Visual Servoing Control of an Inverted Pendulum Yi-Wei Tu and Ming-Tzu Ho*, Member, IEEE . Abstract—This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness to model uncertainty, and to attenuate disturbance and sensor noise, the design of the stabilizing controller is formulated as a problem of the mixed H2/H∞ control, which is then solved using the linear matrix inequality (LMI) approach. The designed control law is implemented on a digital signal processor (DSP). The effectiveness of the controller and the FPGA-based image co-processor is verified through experimental studies. The experimental results show that the designed system is able to robustly control an inverted pendulum in real-time..

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