Details
| Original language | English |
|---|---|
| Pages (from-to) | 169-174 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 52 |
| Issue number | 20 |
| Early online date | 24 Dec 2019 |
| Publication status | Published - 2019 |
| Externally published | Yes |
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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In: IFAC-PapersOnLine, Vol. 52, No. 20, 2019, p. 169-174.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design of a networked controller for a two-wheeled inverted pendulum robot
AU - Music, Zenit
AU - Molinari, Fabio
AU - Gallenmüller, Sebastian
AU - Ayan, Onur
AU - Zoppi, Samuele
AU - Kellerer, Wolfgang
AU - Carle, Georg
AU - Seel, Thomas
AU - Raisch, Jörg
N1 - Funding Information: This work was funded by Deutsche Forschungsgemeinschaft (DFG) within their priority programme SPP 1914 "Cyber-Physical Networking" (CPN). Grant numbers RA516/12-1, CA595/71, and KE1863/5-1.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85082666329&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2019.12.153
DO - 10.1016/j.ifacol.2019.12.153
M3 - Article
VL - 52
SP - 169
EP - 174
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 20
ER -