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Event-based networked control scheme for two-wheeled systems

Author

Listed:
  • 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)

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.

Suggested Citation

  • Magdi S. Mahmoud & Bilal J. Karaki, 2019. "Event-based networked control scheme for two-wheeled systems," Journal of Advances in Technology and Engineering Research, A/Professor Akbar A. Khatibi, vol. 5(4), pages 151-158.
    • Handle: RePEc:apb:jaterr:2019:p:151-158
    DOI: 10.20474/jater-5.4.1
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    References listed on IDEAS

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    1. Kuhan Punaiyah & Harkishen Singh, 2017. "Biped Robot for Walking and Turning Motion Using Raspberry Pi and Arduino," International Journal of Technology and Engineering Studies, PROF.IR.DR.Mohid Jailani Mohd Nor, vol. 3(2), pages 49-58.
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    Cited by:

    1. Mohsen Dlala & Adarey Saud Almutairi, 2021. "Rapid Exponential Stabilization of Nonlinear Wave Equation Derived from Brain Activity via Event-Triggered Impulsive Control," Mathematics, MDPI, vol. 9(5), pages 1-11, March.

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