Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot

Zenit Music; Fabio Molinari; Sebastian Gallenmüller; Onur Ayan; Samuele Zoppi; Wolfgang Kellerer; Georg Carle; Thomas Seel; Jörg Raisch

doi:10.1016/j.ifacol.2019.12.153

Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot

Zenit Music, Fabio Molinari, Sebastian Gallenmüller, Onur Ayan, Samuele Zoppi, Wolfgang Kellerer, Georg Carle, Thomas Seel, Jörg Raisch

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

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.

Original language	English
Pages (from-to)	169-174
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	52
Issue number	20
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.153
State	Published - 2019
Event	8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019 - Chicago, United States Duration: 16 Sep 2019 → 17 Sep 2019

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10.1016/j.ifacol.2019.12.153

Cite this

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title = "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.",

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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

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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.

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JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

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Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot

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