Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems

Vyshak Sureshkumar; Shaima Abdulwahab Ali Al Habsi; Khalifa Hamad Harib; Adewale Oriyomi Oseni

doi:10.1109/ASET53988.2022.9734826

Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems

Vyshak Sureshkumar, Shaima Abdulwahab Ali Al Habsi, Khalifa Hamad Harib, Adewale Oriyomi Oseni

Department of Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Inverted pendulum control systems are widely employed benchmarking purposes as they offer similar challenges to those faced when designing controllers for underactuated systems. In this paper, an LQR-based control system consisting of an inverted pendulum on a cart is presented and used in a comparative experimental study on hardware controller implementation. The paper focuses on studying, comparing, and evaluating the performance of two options of controller implementations ranging from a low-cost microcontroller based embedded system, namely the Arduino DUE, to a relatively high-end, high-cost controller prototyping system, the dSpace DS1104.

Original language	English
Title of host publication	2022 Advances in Science and Engineering Technology International Conferences, ASET 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665418010
DOIs	https://doi.org/10.1109/ASET53988.2022.9734826
Publication status	Published - 2022
Event	2022 Advances in Science and Engineering Technology International Conferences, ASET 2022 - Dubai, United Arab Emirates Duration: Feb 21 2022 → Feb 24 2022

Publication series

Name	2022 Advances in Science and Engineering Technology International Conferences, ASET 2022

Conference

Conference	2022 Advances in Science and Engineering Technology International Conferences, ASET 2022
Country/Territory	United Arab Emirates
City	Dubai
Period	2/21/22 → 2/24/22

Keywords

Arduino
Linear Quadratic Regulator
controller
dSpace
underactuated system

ASJC Scopus subject areas

Process Chemistry and Technology
Artificial Intelligence
Energy Engineering and Power Technology
Renewable Energy, Sustainability and the Environment
Electrical and Electronic Engineering
Industrial and Manufacturing Engineering
Mechanical Engineering
Waste Management and Disposal

Access to Document

10.1109/ASET53988.2022.9734826

Cite this

Sureshkumar, V., Al Habsi, S. A. A., Harib, K. H., & Oseni, A. O. (2022). Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems. In 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022 (2022 Advances in Science and Engineering Technology International Conferences, ASET 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASET53988.2022.9734826

Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems. / Sureshkumar, Vyshak; Al Habsi, Shaima Abdulwahab Ali; Harib, Khalifa Hamad et al.
2022 Advances in Science and Engineering Technology International Conferences, ASET 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 Advances in Science and Engineering Technology International Conferences, ASET 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sureshkumar, V, Al Habsi, SAA, Harib, KH & Oseni, AO 2022, Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems. in 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022. 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022, Institute of Electrical and Electronics Engineers Inc., 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022, Dubai, United Arab Emirates, 2/21/22. https://doi.org/10.1109/ASET53988.2022.9734826

Sureshkumar V, Al Habsi SAA, Harib KH, Oseni AO. Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems. In 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (2022 Advances in Science and Engineering Technology International Conferences, ASET 2022). doi: 10.1109/ASET53988.2022.9734826

Sureshkumar, Vyshak ; Al Habsi, Shaima Abdulwahab Ali ; Harib, Khalifa Hamad et al. / Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems. 2022 Advances in Science and Engineering Technology International Conferences, ASET 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 Advances in Science and Engineering Technology International Conferences, ASET 2022).

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abstract = "Inverted pendulum control systems are widely employed benchmarking purposes as they offer similar challenges to those faced when designing controllers for underactuated systems. In this paper, an LQR-based control system consisting of an inverted pendulum on a cart is presented and used in a comparative experimental study on hardware controller implementation. The paper focuses on studying, comparing, and evaluating the performance of two options of controller implementations ranging from a low-cost microcontroller based embedded system, namely the Arduino DUE, to a relatively high-end, high-cost controller prototyping system, the dSpace DS1104.",

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Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems

Abstract

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Keywords

ASJC Scopus subject areas

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