Real-Time H_∞ Control of Networked Inverted Pendulum Visual Servo Systems

Abstract

Aiming at the challenges of networked visual servo control systems, which rarely consider network communication duration and image processing computational cost simultaneously, we here propose a novel platform for networked inverted pendulum visual servo control using H∞ analysis. Unlike most of the existing methods that usually ignore computational costs involved in measuring, actuating and controlling, we design a novel event-triggered sampling mechanism that applies a new closed-loop strategy to dealing with networked inverted pendulum visual servo systems of multiple time-varying delays and computational errors. Using Lyapunov stability theory, we prove that the proposed system can achieve stability whilst compromising image-induced computational and network-induced delays and system performance. In the meantime, we use H∞ disturbance attenuation level γ for evaluating the computational errors, whereas the corresponding H∞ controller is implemented. Finally, simulation analysis and experimental results demonstrate the proposed system performance in reducing computational errors whilst maintaining system efficiency and robustness.

A Real-Time Image Encryption Method of Networked Inverted Pendulum Visual Servo Control System

“…An image scaling and encryption unit is added to the preestablished NIPVSCS [21]. Figure 1 outlines the system framework that contains two parts: Part 1 is the NIPVSCS; Part 2 is the proposed fast encryption method combining image scaling and the ISDIE algorithm.…”

“…Different from most previous research studies only verified in simulations, the new NIPVSCS is based on a real experimental platform that can be used to validate the theoretical methods. Moreover, compared with the NIPVSCS in [21], two new units are added into the new NIPVSCS, i.e., the image scaling and encryption unit and the remote image processing unit.…”

“…Step 2: to generate a pseudorandom state value as an encryption key, the logistic map [20,21] is used as follows:…”

Reference input and hysteresis quantizer based triggered control for networked control systems over limited channels

“…Networked control systems (NCSs), with the spatial distribution structure of the sensor, actuator, and controller, are about to replace the traditional point-to-point control systems for its superiority in design, installation and maintenance. [1][2][3][4] It has been widely applied to industrial processes such as unmanned aerial vehicles, 5 mobile sensor networks, 6 waste water treatment, 7 and remote surgery. 8 However, the utilization of communication network brings several challenging issues.…”

Multi-task learning based on question–answering style reviews for aspect category classification and aspect term extraction on GPU clusters

“…With the advancement of computing technology, GPU cluster as a typical heterogeneous cluster becomes one of the most significant computing infrastructures and is widely applied into scientific computing, information services and big data processing. The advance in hardware contributes a lot of improvements in various fields, including computer vision [6], social media and e-commerce platforms. The evolvement of social media and e-commerce platforms contributes to the popularity of online product reviews exceptionally, thus massive online product reviews are generated.…”