Design of Model Predictive Control of two-wheeled inverted pendulum robot
Year
: 2015
Abstract: Model Predictive Control (MPC) is a control
strategy that uses an explicit model of a process to optimize the
performance of the system. This paper describes the design of
MPC controller for a Two Wheeled Inverted Pendulum (TWIP)
considered as an underactuated and nonlinear system. By using a
decoupling unit, TWIP can be controlled independently by two
MPC controllers. Due to the feed forward control of MPC, the performance of the control system is improved to compensate for measurable disturbances. The validity of the design is evaluated in the presence of step-like disturbance and two different external forces. Finally, the result of the MPC controller is compared with LQR controller.
strategy that uses an explicit model of a process to optimize the
performance of the system. This paper describes the design of
MPC controller for a Two Wheeled Inverted Pendulum (TWIP)
considered as an underactuated and nonlinear system. By using a
decoupling unit, TWIP can be controlled independently by two
MPC controllers. Due to the feed forward control of MPC, the performance of the control system is improved to compensate for measurable disturbances. The validity of the design is evaluated in the presence of step-like disturbance and two different external forces. Finally, the result of the MPC controller is compared with LQR controller.
Keyword(s): Two-wheeled self balancing robot,Inverted
pendulum,Model Predictive Control (MPC)
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Design of Model Predictive Control of two-wheeled inverted pendulum robot
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| contributor author | نیلوفر مینوچهر | en |
| contributor author | سیدکمال حسینی ثانی | en |
| contributor author | Niloofar Minoochehr | fa |
| contributor author | Seyed Kamal Hosseini Sani | fa |
| date accessioned | 2020-06-06T14:22:51Z | |
| date available | 2020-06-06T14:22:51Z | |
| date copyright | 10/7/2015 | |
| date issued | 2015 | |
| identifier uri | https://libsearch.um.ac.ir:443/fum/handle/fum/3394244?locale-attribute=en | |
| description abstract | Model Predictive Control (MPC) is a control strategy that uses an explicit model of a process to optimize the performance of the system. This paper describes the design of MPC controller for a Two Wheeled Inverted Pendulum (TWIP) considered as an underactuated and nonlinear system. By using a decoupling unit, TWIP can be controlled independently by two MPC controllers. Due to the feed forward control of MPC, the performance of the control system is improved to compensate for measurable disturbances. The validity of the design is evaluated in the presence of step-like disturbance and two different external forces. Finally, the result of the MPC controller is compared with LQR controller. | en |
| language | English | |
| title | Design of Model Predictive Control of two-wheeled inverted pendulum robot | en |
| type | Conference Paper | |
| contenttype | External Fulltext | |
| subject keywords | Two-wheeled self balancing robot | en |
| subject keywords | Inverted pendulum | en |
| subject keywords | Model Predictive Control (MPC) | en |
| identifier link | https://profdoc.um.ac.ir/paper-abstract-1058543.html | |
| conference title | Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics (ICROM) | en |
| conference location | تهران | fa |
| identifier articleid | 1058543 |