Design and Implementation of Robust Hybrid Control of Vision Based Underactuated Mechanical Nonminimum Phase Systems

摘要

This paper presents a vision based Cart-Inverted Pendulum (CIP) system under a hybrid feedback configuration: the continuous cart's position measured by encoder and the delayed & sampled inverted pendulum's upper coordinates, obtained from a visual sensor. The challenge here is to stabilize the CIP from a big inclined initial angle by using a low cost CCD camera. Under this scheme, we propose a hybrid control which consists in a Jumping-up (Bang-Bang) control and a two causal stabilization loops control: the first one (inner loop) realizes a linearization and the stabilization control of the pendulum based on an innovative Piecewise Continuous Reduced Order Luenberger Observer coupled with a linearization module, the second one (the outer loop) realizes a Lyapunov based control for the unstable internal system with lower dynamics than that of the pendulum. This hybrid control method is capable of balancing the CIP system within small cart' s displacement. Performances issues of the proposed method are illustrated by the experimental figures and videos.