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

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.