Design of a networked controller for a two-wheeled inverted pendulum robot

verfasst von

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

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.

Externe Organisation(en)

Technische Universität Berlin
Technische Universität München (TUM)
Max-Planck-Institut für Dynamik komplexer technischer Systeme

Typ

Artikel

Journal

IFAC-PapersOnLine

Band

52

Seiten

169-174

Anzahl der Seiten

6

ISSN

2405-8963

Publikationsdatum

2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

Elektronische Version(en)

https://doi.org/10.1016/j.ifacol.2019.12.153 (Zugang: Offen)