Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
For control engineers, this provides a practical method to manage communication delays in networked control systems, though it is an incremental application of existing model predictive control.
The paper designs a networked controller for a two-wheeled inverted pendulum robot using model predictive techniques to handle wireless communication delays, achieving stable upright control comparable to local control in experiments.
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.