文章基本信息

标题：Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot ⁎
本地全文：下载
作者：Zenit Music ; Fabio Molinari ; Sebastian Gallenmüller 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：169-174
DOI：10.1016/j.ifacol.2019.12.153
语种：English
出版社：Elsevier
摘要：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.