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

Takashi Ohhira, Akira Shimada

研究成果: Article査読

4 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)776-781
ページ数6
ジャーナルIFAC-PapersOnLine
50
1
DOI
出版ステータスPublished - 2017 7 1

ASJC Scopus subject areas

  • Control and Systems Engineering

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