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Control of the rotary inverted pendulum through threshold-based communication.
Vicente Casanova1, José Alcaína1, Julián Salt1
1Department of Systems Engineering and Control Technical, University of Valencia, Cno de Vera s/n, 46022 Valencia, Spain.
ISA Transactions
|February 13, 2016
Summary
This study implements event-based control for a rotary inverted pendulum using Ethernet, significantly reducing network bandwidth consumption. Threshold-based communication minimizes bandwidth use with only a minor impact on performance.
Area of Science:
- Robotics and Control Systems
- Networked Control Systems
Background:
- Classical control systems often require high communication bandwidth.
- Networked Control Systems (NCS) introduce challenges in bandwidth management.
- Rotary inverted pendulums are standard benchmarks for control system development.
Purpose of the Study:
- To implement and evaluate an event-based control structure for a rotary inverted pendulum.
- To reduce communication bandwidth in a Networked Control System (NCS) using threshold-based communication.
- To assess the performance trade-offs of bandwidth reduction techniques.
Main Methods:
- Developed an event-based control structure for a rotary inverted pendulum.
- Utilized Ethernet (TCP/IP) for controller-plant communication, creating a Networked Control System.
- Determined optimal communication thresholds via simulation.
- Implemented and tested the system on a real rotary inverted pendulum plant.
Main Results:
- Achieved significant reduction in communication bandwidth usage compared to conventional control.
- Demonstrated that threshold-based communication effectively conserves bandwidth.
- Observed negligible worsening in system performance despite bandwidth reduction.
Conclusions:
- Event-based control with threshold-based communication is a viable strategy for bandwidth reduction in NCS.
- This approach offers a practical method for optimizing NCS resource utilization.
- The technique is effective for controlling systems like the rotary inverted pendulum without substantial performance degradation.
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