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 |
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ページ(範囲) | 776-781 |
ページ数 | 6 |
ジャーナル | IFAC-PapersOnLine |
巻 | 50 |
号 | 1 |
DOI | |
出版ステータス | Published - 2017 7月 |
ASJC Scopus subject areas
- 制御およびシステム工学