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

Dajun Du, Changda Zhang, Yuehua Song, Huiyu Zhou, Xue Li*, Minrui Fei, Wangpei Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

## 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 ${H_{\infty } }$ 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 the 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 ${H_{\infty }}$ disturbance attenuation level $\gamma$ for evaluating the computational errors, whereas the corresponding ${H_{\infty }}$ controller is implemented. Finally, simulation analysis and experimental results demonstrate the proposed system performance in reducing computational errors whilst maintaining system efficiency and robustness.

Original language English 8744498 5113-5126 14 IEEE Transactions on Cybernetics 50 12 https://doi.org/10.1109/TCYB.2019.2921821 Published - 24 Jun 2019 Yes

### Bibliographical note

Funding Information:
Manuscript received February 1, 2019; revised April 25, 2019 and June 2, 2019; accepted June 3, 2019. Date of publication June 24, 2019; date of current version December 3, 2020. The work of D. Du, C. Zhang, Y. Song, X. Li, M. Fei, and W. Li was supported in part by the National Science Foundation of China under Grant 61773253, Grant 61633016, Grant 61533010, and Grant 61473182, and in part by the 111 Project under Grant D18003. The work of H. Zhou was supported in part by the U.K. EPSRC under Grant EP/N011074/1, in part by the Royal Society-Newton Advanced Fellowship under Grant NA160342, and in part by the European Union’s Horizon 2020 Research and Innovation Program through the Marie-Sklodowska-Curie under Grant 720325. This paper was recommended by Associate Editor Q.-L. Han. (Corresponding authors: Changda Zhang; Xue Li.) D. Du, C. Zhang, Y. Song, X. Li, M. Fei, and W. Li are with the Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China (e-mail: zcd1863@163.com; lixue@i.shu.edu.cn).

Funding Information:
The work of D. Du, C. Zhang, Y. Song, X. Li, M. Fei, and W. Li was supported in part by the National Science Foundation of China under Grant 61773253, Grant 61633016, Grant 61533010, and Grant 61473182, and in part by the 111 Project under Grant D18003. The work of H. Zhou was supported in part by the U.K. EPSRC under Grant EP/N011074/1, in part by the Royal Society-Newton Advanced Fellowship under Grant NA160342, and in part by the European Union?s Horizon 2020 Research and Innovation Program through the Marie-Sklodowska-Curie under Grant 720325.

## Keywords

• Computational delay
• computational error
• inverted pendulum
• network-induced delay
• real-time H∞ control
• visual servo

## ASJC Scopus subject areas

• Software
• Control and Systems Engineering
• Information Systems
• Human-Computer Interaction
• Computer Science Applications
• Electrical and Electronic Engineering