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Volume 42 Issue 10
Oct.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(10): 2107-2117.
YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)
Citation: YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)
shu

Simulation and experiment of event-triggered control for inverted pendulum system

doi: 10.13700/j.bh.1001-5965.2015.0631

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:  National Natural Science Foundation of China (61573036,61174057); Beijing Municipal Natural Science Foundation (4112034); the Fundamental Research Funds for the Central Universities
  • Received Date: 24 Sep 2015
  • Publish Date: 20 Oct 2016
    Abstract
  • 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.

     

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