Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot

The properties of Hardware-in-the-Loop (HIL) for the development of controllers, together with electronic emulation of physical process by Digital Twins (DT) significantly enhance the optimization of design and implementation in nonlinear control applications. The study emphasizes the use of the Ras...

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Autores: Losada Gutiérrez, Cristina|||0000-0001-9545-327X, Espinosa Zapata, Felipe|||0000-0003-1588-0947, Cruz de la Torre, Carlos|||0000-0001-6937-9838, Alvarado Vásquez, Biel Piero Eloy|||0000-0001-8765-213X
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universidad de Alcalá (UAH)
Repositorio:e_Buah Biblioteca Digital Universidad de Alcalá
Idioma:inglés
OAI Identifier:oai:ebuah.uah.es:10017/65811
Acceso en línea:http://hdl.handle.net/10017/65811
https://dx.doi.org/10.3390/act14080376
Access Level:acceso abierto
Palabra clave:Hardware in the loop
Electronic control unit
Digital twin
Raspberry Pi
Lyapunov-based control
Nonlinear trajectory tracking
P3-DX robot
Wireless network control
Electrónica
Electronics
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spelling Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX RobotLosada Gutiérrez, Cristina|||0000-0001-9545-327XEspinosa Zapata, Felipe|||0000-0003-1588-0947Cruz de la Torre, Carlos|||0000-0001-6937-9838Alvarado Vásquez, Biel Piero Eloy|||0000-0001-8765-213XHardware in the loopElectronic control unitDigital twinRaspberry PiLyapunov-based controlNonlinear trajectory trackingP3-DX robotWireless network controlElectrónicaElectronicsThe properties of Hardware-in-the-Loop (HIL) for the development of controllers, together with electronic emulation of physical process by Digital Twins (DT) significantly enhance the optimization of design and implementation in nonlinear control applications. The study emphasizes the use of the Raspberry Pi (RBP), a low-cost and portable electronic board for two interrelated goals: (a) the Electronic Control Unit (ECU-RBP) implementing a Lyapunov-based Controller (LBC) for nonlinear trajectory tracking of P3DX wheeled robots, and (b) the Digital Twin (DT-RPB) emulating the real robot behavior, which is remotely connected to the control unit. ECU-RBP, DT-RBP and real robot are connected as nodes within the same wireless network, enhancing interaction between the three physical elements. The development process is supported by the Matlab/Simulink environment and the associated packages for the specified electronic board. Following testing of the real robot from the ECU-RBP in an open loop, the model is identified and integrated into the DT-RBP to replicate its functionality. The LBC solution, which has also been validated through simulation, is implemented in the ECU-RBP to examine the closed-loop control according to the HIL strategy. Finally, the study evaluates the effectiveness of the HIL approach by comparing the results obtained from the application of the LBC, as implemented in the ECU-RBP to both the real robot and its DT.Universidad de AlcaláMDPI20252025-07-27journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10017/65811https://dx.doi.org/10.3390/act14080376reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)InglésengUAH Not available UAH%2FEV1545UAH Not available UAH%2FEV1633UAH Not available PIUAH24%2FIA-020open accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/658112026-06-18T11:13:07Z
dc.title.none.fl_str_mv Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
title Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
spellingShingle Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
Losada Gutiérrez, Cristina|||0000-0001-9545-327X
Hardware in the loop
Electronic control unit
Digital twin
Raspberry Pi
Lyapunov-based control
Nonlinear trajectory tracking
P3-DX robot
Wireless network control
Electrónica
Electronics
title_short Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
title_full Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
title_fullStr Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
title_full_unstemmed Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
title_sort Electronic Control Unit and Digital Twin Based on Raspberry Pi 4 for Testing the Remote Nonlinear Trajectory Tracking of a P3-DX Robot
dc.creator.none.fl_str_mv Losada Gutiérrez, Cristina|||0000-0001-9545-327X
Espinosa Zapata, Felipe|||0000-0003-1588-0947
Cruz de la Torre, Carlos|||0000-0001-6937-9838
Alvarado Vásquez, Biel Piero Eloy|||0000-0001-8765-213X
author Losada Gutiérrez, Cristina|||0000-0001-9545-327X
author_facet Losada Gutiérrez, Cristina|||0000-0001-9545-327X
Espinosa Zapata, Felipe|||0000-0003-1588-0947
Cruz de la Torre, Carlos|||0000-0001-6937-9838
Alvarado Vásquez, Biel Piero Eloy|||0000-0001-8765-213X
author_role author
author2 Espinosa Zapata, Felipe|||0000-0003-1588-0947
Cruz de la Torre, Carlos|||0000-0001-6937-9838
Alvarado Vásquez, Biel Piero Eloy|||0000-0001-8765-213X
author2_role author
author
author
dc.subject.none.fl_str_mv Hardware in the loop
Electronic control unit
Digital twin
Raspberry Pi
Lyapunov-based control
Nonlinear trajectory tracking
P3-DX robot
Wireless network control
Electrónica
Electronics
topic Hardware in the loop
Electronic control unit
Digital twin
Raspberry Pi
Lyapunov-based control
Nonlinear trajectory tracking
P3-DX robot
Wireless network control
Electrónica
Electronics
description The properties of Hardware-in-the-Loop (HIL) for the development of controllers, together with electronic emulation of physical process by Digital Twins (DT) significantly enhance the optimization of design and implementation in nonlinear control applications. The study emphasizes the use of the Raspberry Pi (RBP), a low-cost and portable electronic board for two interrelated goals: (a) the Electronic Control Unit (ECU-RBP) implementing a Lyapunov-based Controller (LBC) for nonlinear trajectory tracking of P3DX wheeled robots, and (b) the Digital Twin (DT-RPB) emulating the real robot behavior, which is remotely connected to the control unit. ECU-RBP, DT-RBP and real robot are connected as nodes within the same wireless network, enhancing interaction between the three physical elements. The development process is supported by the Matlab/Simulink environment and the associated packages for the specified electronic board. Following testing of the real robot from the ECU-RBP in an open loop, the model is identified and integrated into the DT-RBP to replicate its functionality. The LBC solution, which has also been validated through simulation, is implemented in the ECU-RBP to examine the closed-loop control according to the HIL strategy. Finally, the study evaluates the effectiveness of the HIL approach by comparing the results obtained from the application of the LBC, as implemented in the ECU-RBP to both the real robot and its DT.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-07-27
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/65811
https://dx.doi.org/10.3390/act14080376
url http://hdl.handle.net/10017/65811
https://dx.doi.org/10.3390/act14080376
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv UAH Not available UAH%2FEV1545
UAH Not available UAH%2FEV1633
UAH Not available PIUAH24%2FIA-020
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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