Event-based networked control scheme for two-wheeled systems

Magdi S. Mahmoud and Bilal J. Karaki
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Magdi S. Mahmoud: Department of Systems Engineering, King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia
Bilal J. Karaki: Department of Systems Engineering, King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

Journal of Advances in Technology and Engineering Research, 2019, vol. 5, issue 4, 151-158

Abstract: This paper provides efficient and reliable networked optimal control design of a Two-Wheeled Inverted Pendulum (TWIP) system to achieve wide-range system stabilization. Linear Quadratic Regulator (LQR) theory as well as its modified version with exponential term are initially cast into Load Moment Indicator (LMI) framework to guarantee stabilization as a self-balancing robot. Next, an integral action is inserted into the LQR performance index to decrease the error substantially. Finally, event-based policy is applied alongside with LQR to decrease the communication congestion over the network. An observer-based control is used, once the states are estimated, an optimal control law is generated to regulate the torque of the motors. Simulation results demonstrates that the system performance still optimal while the event-based regime is used.

Keywords: Networked optimal; Control design; TWIP; System stabilization; Event-based policy (search for similar items in EconPapers)
Date: 2019
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Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:apb:jaterr:2019:p:151-158

DOI: 10.20474/jater-5.4.1

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