Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
Music Z, Molinari F, Gallenmueller S, Ayan O, Zoppi S, Kellerer W, Carle G, Seel T, Raisch J (2019)
Publication Type: Conference contribution
Publication year: 2019
Journal
Publisher: Elsevier B.V.
Book Volume: 52
Pages Range: 169-174
Conference Proceedings Title: IFAC-PapersOnLine
Event location: Chicago, IL
DOI: 10.1016/j.ifacol.2019.12.153
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.
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Germany (DE)How to cite
APA:
Music, Z., Molinari, F., Gallenmueller, S., Ayan, O., Zoppi, S., Kellerer, W.,... Raisch, J. (2019). Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot. In Dennice F. Gayme (Eds.), IFAC-PapersOnLine (pp. 169-174). Chicago, IL, US: Elsevier B.V..
MLA:
Music, Zenit, et al. "Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot." Proceedings of the 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019, Chicago, IL Ed. Dennice F. Gayme, Elsevier B.V., 2019. 169-174.
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