TitlePacket-Based Dynamic Control of a Furuta Pendulum over Ethernet
Publication TypeConference Paper
Year of Publication2013
Conference NameMediterranean Conference on Control and Automation (MED '13)
Pagination464 - 470
Date Published25-28 June 2013
Publication Languageeng
AuthorsFabbri, T, Fenucci, D, Falasca, S, Gamba, M, Bicchi, A
Conference LocationPlatanias-Chania, Crete, Greece
KeywordsEmbedded Control, Robotics

This paper presents experimental results of the application of Packet-Based Control approach with dynamic controller on a real plant: the Furuta Pendulum. Despite its easiness of realization, Furuta Pendulum presents some features useful for our purposes, such as pretty non-linear dynamics, unstable equilibrium point and heavy dynamical inaccuracies. The network communication channel has been implemented using an Ethernet network. Packet-Based controller has been tested and compared with a classic local controller for different time-varying actuation delays. Results obtained corroborate the validity of the proposed architecture and highlight the robustness of this approach in the presence of actuation delays.

Refereed DesignationRefereed
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