Model Predictive Control for an Inverted-pendulum Robot with Time-varying Constraints

被引：9

作者：

Ohhira, Takashi ^{[1
]}

Shimada, Akira ^{[2
]}

机构：

[1] Shibaura Inst Technol, Grad Sch Engn & Sci, Div Elect Engn & Comp Sci, Minato Ku, 3-9-14 Shibaura, Tokyo 1088548, Japan

[2] Shibaura Inst Technol, Dept Engn & Design, Minato Ku, 3-9-14 Shibaura, Tokyo 1088548, Japan

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Model Predictive Control (MPC); Time-Varying Constraint; Inverted Pendulum (IP) Robot; Movement Control; Real-time Optimization;

D O I：

10.1016/j.ifacol.2017.08.252

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study proposes a movement control system for a two-wheel inverted pendulum (IP) type robot, which is a personal robot that interacts with people. Safety and stability are important parameters in designing a robot for personal use. To achieve this, model predictive control (MPC) may be a suitable control technique. The controller presented in this study ensures safety in relation to velocity and stability by imposing time-invariant constraints on the controller input and body tilt angle. Finally, we present good validation results from a movement-control simulation of an IP robot. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：776 / 781

页数：6

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