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

Takashi Ohhira, Akira Shimada

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)776-781
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - 2017 Jul 1

Fingerprint

Model predictive control
Pendulums
Robots
Controllers
Wheels
Control systems

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Model Predictive Control for an Inverted-pendulum Robot with Time-varying Constraints. / Ohhira, Takashi; Shimada, Akira.

In: IFAC-PapersOnLine, Vol. 50, No. 1, 01.07.2017, p. 776-781.

Research output: Contribution to journalArticle

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