TY - JOUR
T1 - Simulation and experiment of event-triggered control for inverted pendulum system
AU - Yu, Hao
AU - Ouyang, Li
AU - Hao, Fei
N1 - Publisher Copyright:
© 2016, Editorial Board of JBUAA. All right reserved.
PY - 2016/10/1
Y1 - 2016/10/1
N2 - This paper investigates the event-triggered control for single linear inverted pendulum system from theoretical, simulation and experimental points of view to illustrate the feasibility and practicability of event-triggered control. Firstly, the parameter in event condition was designed based on linear matrix inequality, and the estimation of lower bound of inter-event times was provided. Secondly, the feasibility of theoretical results without quantization is illustrated by Simulink simulations. Finally, the influence of quantization was studied by experiments, which is quite negative on the system with model-based controller. According to the experiment results, the mixed event condition and zero-order-hold controller are more suitable for practical inverted pendulum system. They can guarantee the stability with efficient reduction of communication frequency, which reflects the potential practical value of event-triggered control.
AB - This paper investigates the event-triggered control for single linear inverted pendulum system from theoretical, simulation and experimental points of view to illustrate the feasibility and practicability of event-triggered control. Firstly, the parameter in event condition was designed based on linear matrix inequality, and the estimation of lower bound of inter-event times was provided. Secondly, the feasibility of theoretical results without quantization is illustrated by Simulink simulations. Finally, the influence of quantization was studied by experiments, which is quite negative on the system with model-based controller. According to the experiment results, the mixed event condition and zero-order-hold controller are more suitable for practical inverted pendulum system. They can guarantee the stability with efficient reduction of communication frequency, which reflects the potential practical value of event-triggered control.
KW - Event-triggered control
KW - Inverted pendulum
KW - Model-based networked control
KW - Simulink simulation
KW - State feedback
UR - http://www.scopus.com/inward/record.url?scp=84994180808&partnerID=8YFLogxK
U2 - 10.13700/j.bh.1001-5965.2015.0631
DO - 10.13700/j.bh.1001-5965.2015.0631
M3 - Article
AN - SCOPUS:84994180808
SN - 1001-5965
VL - 42
SP - 2107
EP - 2117
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 10
ER -