Open AccessResearch on Visual Control System of Inverted Pendulum Based on Pixel Displacement
Author(s) -
Bing Liu,
Bin Zhan,
Changda Zhang,
Lisi Yang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1550/6/062006
Subject(s) - inverted pendulum , control theory (sociology) , pendulum , computer science , displacement (psychology) , double inverted pendulum , controller (irrigation) , servo control , servomechanism , servo , control (management) , control engineering , artificial intelligence , engineering , nonlinear system , physics , mechanical engineering , psychology , agronomy , quantum mechanics , psychotherapist , biology
In inverted pendulum visual servo control system (IPVSCSs), how to achieve the fast and effective measurement of the state information of the inverted pendulum is an important task. In this paper, the characteristics of the inverted pendulum are considered and a series of image processing and positioning algorithm of the pendulum are proposed. Furthermore, the inverted pendulum control system model based on the pixel displacement is established and the LQR controller is designed. Finally, the feasibility and superiority of the proposed method are verified by real-time control experiments.