文章基本信息

标题：Model Predictive Control for an Inverted-pendulum Robot with Time-varying Constraints
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作者：Takashi Ohhira ; Akira Shimada
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：776-781
DOI：10.1016/j.ifacol.2017.08.252
语种：English
出版社：Elsevier
摘要：AbstractThis 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.
关键词：KeywordsModel Predictive Control (MPC)Time-Varying ConstraintInverted Pendulum (IP) RobotMovement ControlReal-time Optimization