Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
Abstract
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN communication. The robot has to keep a vertical upright position. Incorporating wireless communication in the control loop introduces multiple uncertainties and affects system performance and stability. The proposed networked control scheme employs model predictive techniques and deliberately extends delays in order to make them constant and deterministic. The performance of the resulting networked control system is evaluated experimentally with a predefined benchmarking experiment and is compared to local control involving no delays.
Keywords
Cite
@article{arxiv.1812.03071,
title = {Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot},
author = {Zenit Music and Fabio Molinari and Sebastian Gallenmüller and Onur Ayan and Samuele Zoppi and Wolfgang Kellerer and Georg Carle and Thomas Seel and Jörg Raisch},
journal= {arXiv preprint arXiv:1812.03071},
year = {2020}
}
Comments
Submitted to IFAC Necsys 2019