Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
Technische Universität Berlin（柏林工业大学）；Technische Universität München（慕尼黑工业大学）；Max-Planck-Institut für Dynamik komplexer technischer Systeme（复杂技术系统动力学马普研究所）
Zenit Music, Fabio Molinari, Sebastian Gallenmüller, Onur Ayan, Samuele Zoppi, Wolfgang Kellerer, Georg Carle, Thomas Seel, Jörg Raisch
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.
Region of Attraction Estimation for Linear Quadratic Regulator, Linear and Robust Model Predictive Control on a Two-Wheeled Inverted Pendulum
Université Côte d‘Azur CNRS, I3S（法国蔚蓝海岸大学CNRS第三信息科学与系统研究所）；ETH Zürich IDSC（苏黎世联邦理工学院智能系统与控制系）；KTH Royal Institute of Technology Digital Futures（瑞典皇家理工学院数字未来中心）
Distributed Nonlinear Control of Networked Two-Wheeled Robots under Adversarial Interactions
Institut Teknologi Sepuluh Nopember (ITS)（十月中旬理工学院）；Universitas Gadjah Mada (UGM)（加查马达大学）；Institut Teknologi Bandung (ITB)（万隆理工学院）；University of Groningen（格罗宁根大学）
