Event-driven adaptive intermittent control applied to a rotational pendulum

Alvarez Martin, J. A. , Gollee, H. and Gawthrop, P. J. (2023) Event-driven adaptive intermittent control applied to a rotational pendulum. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 237(6), pp. 1000-1014. (doi: 10.1177/09596518221147340)

Abstract

Intermittent control combines open-loop trajectories with feedback at discrete time instances determined by events. Among other applications, it has recently been used to model quiet standing in humans where the system was assumed to be time-invariant. This article expands this work to the time-variant case by introducing an adaptive intermittent controller that exploits the well-known self-tuning architecture of adaptive control with a Kalman filter to perform online state and parameter estimation. Simulation and experimental results using a rotational inverted pendulum show advantages of the intermittent controllers compared to continuous feedback control since the former can provide persistent excitation due to their internal triggering mechanism, even when no external reference changes or disturbances are applied. Moreover, the results show that the event thresholds of intermittent control can be used to adjust the degree of responsiveness of the adaptation in the system, becoming a tool to balance the trade-off between steady-state performance and flexibility against parametric changes, addressing the stability–plasticity dilemma of adaptation and learning in control.

• Item Type: Articles
• Additional Information: The authors would like to thank the financial support provided by the Consejo Nacional de Ciencia y Tecnologia (CONACyT, Mexico), the Secretarrıa de Educacion Publica (SEP, Mexico), and the EPSRC grant Closed-loop Data Science (EP/R018634/1). P. J. Gawthrop was supported by the University of Melbourne Faculty of Engineering and Information Technology through a Professorial Fellowship.
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Gollee, Dr Henrik and Alvarez Martin, Mr Alberto and Gawthrop, Professor Peter
• Authors: Alvarez Martin, J. A., Gollee, H., and Gawthrop, P. J.
• College/School: College of Science and Engineering > School of Engineering; College of Science and Engineering > School of Engineering > Biomedical Engineering
• Journal Name: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
• Publisher: SAGE Publications
• ISSN: 0959-6518
• ISSN (Online): 2041-3041
• Published Online: 28 January 2023
• Copyright Holders: Copyright © 2023 IMechE
• First Published: First published in Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 237(6):1000-1014
• Publisher Policy: Reproduced under a Creative Commons license

Project Code	Award No	Project Name	Principal Investigator	Funder's Name	Funder Ref	Lead Dept
300982		Exploiting Closed-Loop Aspects in Computationally and Data Intensive Analytics	Roderick Murray-Smith	Engineering and Physical Sciences Research Council (EPSRC)	EP/R018634/1	Computing Science