基于视频的倒立摆摆起控制

Swing-up Control of an Inverted Pendulum Based on Vision Feedback

在视觉信息用于连续反馈中,人们提出了基于视觉的伺服控制形式,对视觉传感器得到的图像进行快速处理,在尽量短的时间内给出反馈信息,构成系统的位置闭环控制。本文基于视频的倒立摆摆起控制,提供了一个视觉反馈倒立摆摆杆位置来控制的途径。文中对视频采集系统和软件设计进行了详细介绍,并给出了实际效果图。

Visual serving is given in the process of using vision information to feedback control, the images which are given by the vision sensor have been processquickly, and the feedback information can be given to construct a position feedback control system.. In this paper we present a method how to swing up an inverted pendulum based on vision feedback in a control system. The image process system and software design are discussed in the article.