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 language | English |
|---|---|
| Pages (from-to) | 776-781 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 50 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2017 Jul 1 |
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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 journal › Article
}
TY - JOUR
T1 - Model Predictive Control for an Inverted-pendulum Robot with Time-varying Constraints
AU - Ohhira, Takashi
AU - Shimada, Akira
PY - 2017/7/1
Y1 - 2017/7/1
N2 - 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.
AB - 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.
KW - Inverted Pendulum (IP) Robot
KW - Model Predictive Control (MPC)
KW - Movement Control
KW - Real-time Optimization
KW - Time-Varying Constraint
UR - http://www.scopus.com/inward/record.url?scp=85031798956&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85031798956&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.252
DO - 10.1016/j.ifacol.2017.08.252
M3 - Article
AN - SCOPUS:85031798956
VL - 50
SP - 776
EP - 781
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 1
ER -