Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification
This paper proposes a design method of robust controllers for systems containing uncertainties in the measurement equation. For our specific problem of visual feedback control, the effects of image distortion are reflected as uncertainties represented in an affine manner. In our previous design meth...
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2025-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
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| Online Access: | http://dx.doi.org/10.1080/18824889.2025.2497612 |
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| _version_ | 1850273663189778432 |
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| author | Kazuyoshi Hatada Masayuki Sato Kentaro Hirata |
| author_facet | Kazuyoshi Hatada Masayuki Sato Kentaro Hirata |
| author_sort | Kazuyoshi Hatada |
| collection | DOAJ |
| description | This paper proposes a design method of robust controllers for systems containing uncertainties in the measurement equation. For our specific problem of visual feedback control, the effects of image distortion are reflected as uncertainties represented in an affine manner. In our previous design method, it is implicitly assumed that the parameter, which is used for deriving the state-space matrices of the controller to be designed, is chosen as the nominal value of the uncertainty parameter. This assumption causes some conservatism. We thus propose a new design method by replacing the nominal value of the uncertainty parameter in our previous method as a newly introduced fictitious parameter whose value should be a priori set but can be chosen freely. A controller for a visual feedback system which allows measurement errors due to large lens distortion is designed by using the proposed method. The validity of our controller is confirmed by a lab-level experimental setup. |
| format | Article |
| id | doaj-art-c8984d7ceffb4c8eb1bfe47931fb2dca |
| institution | OA Journals |
| issn | 1884-9970 |
| language | English |
| publishDate | 2025-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj-art-c8984d7ceffb4c8eb1bfe47931fb2dca2025-08-20T01:51:24ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702025-12-0118110.1080/18824889.2025.24976122497612Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verificationKazuyoshi Hatada0Masayuki Sato1Kentaro Hirata2Fukuoka UniversityKumamoto UniversityDoshisha UniversityThis paper proposes a design method of robust controllers for systems containing uncertainties in the measurement equation. For our specific problem of visual feedback control, the effects of image distortion are reflected as uncertainties represented in an affine manner. In our previous design method, it is implicitly assumed that the parameter, which is used for deriving the state-space matrices of the controller to be designed, is chosen as the nominal value of the uncertainty parameter. This assumption causes some conservatism. We thus propose a new design method by replacing the nominal value of the uncertainty parameter in our previous method as a newly introduced fictitious parameter whose value should be a priori set but can be chosen freely. A controller for a visual feedback system which allows measurement errors due to large lens distortion is designed by using the proposed method. The validity of our controller is confirmed by a lab-level experimental setup.http://dx.doi.org/10.1080/18824889.2025.2497612robust controller designfictitious parametercalibration-free visual feedback systemscart-driven inverted pendulumbilinear matrix inequalities |
| spellingShingle | Kazuyoshi Hatada Masayuki Sato Kentaro Hirata Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification SICE Journal of Control, Measurement, and System Integration robust controller design fictitious parameter calibration-free visual feedback systems cart-driven inverted pendulum bilinear matrix inequalities |
| title | Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification |
| title_full | Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification |
| title_fullStr | Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification |
| title_full_unstemmed | Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification |
| title_short | Robust controller design with reduced conservatism for calibration-free visual feedback systems and its experimental verification |
| title_sort | robust controller design with reduced conservatism for calibration free visual feedback systems and its experimental verification |
| topic | robust controller design fictitious parameter calibration-free visual feedback systems cart-driven inverted pendulum bilinear matrix inequalities |
| url | http://dx.doi.org/10.1080/18824889.2025.2497612 |
| work_keys_str_mv | AT kazuyoshihatada robustcontrollerdesignwithreducedconservatismforcalibrationfreevisualfeedbacksystemsanditsexperimentalverification AT masayukisato robustcontrollerdesignwithreducedconservatismforcalibrationfreevisualfeedbacksystemsanditsexperimentalverification AT kentarohirata robustcontrollerdesignwithreducedconservatismforcalibrationfreevisualfeedbacksystemsanditsexperimentalverification |