# Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot

## TL;DR

This paper presents a model-based networked control design for a two-wheeled inverted pendulum robot, addressing wireless communication delays to maintain stability and upright position, validated through experimental benchmarking.

## Contribution

It introduces a novel networked control scheme using model predictive control that manages wireless delays by making them deterministic, improving stability in remote robot control.

## Key findings

- The proposed control scheme maintains stability despite wireless delays.
- Experimental results show improved performance over local control without delays.
- The approach effectively handles uncertainties introduced by wireless communication.

## Abstract

The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN communication. The robot has to keep a vertical upright position. Incorporating wireless communication in the control loop introduces multiple uncertainties and affects system performance and stability. The proposed networked control scheme employs model predictive techniques and deliberately extends delays in order to make them constant and deterministic. The performance of the resulting networked control system is evaluated experimentally with a predefined benchmarking experiment and is compared to local control involving no delays.