ビジュアルフィードバックによる倒立振子の制御に関する研究

概要

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An inverted pendulum is widely used as a learning equipment for modern control theory. In most cases,the sensors for position of the moving part and angle of the pendulum are types of contact style such as rotary encoders or sliding resisters. However,these types of sensors have essentially friction and prevent smooth motion of the inverted pendulum. Hence,in this paper, a camera is used as the sensor which traces the circular markers of the moving part and the tip of the pendulum,and by image processing technique,precise centers of each markers are calculated and the position of the moving part and the angle of the pendulum are obtained. Based on these values the control of the inverted pendulum was realized. This paper presents control strategy and the method of image processiong technique.
八戸工業大学の論文
2006-02-28