Title :
Model predictive control of a wheeled inverted pendulum robot
Author :
Navid Dini;Vahid Johari Majd
Author_Institution :
Intelligent Control Systems Laboratory, School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran
Abstract :
In this paper, a model predictive control method, namely the Generalized Predictive Control (GPC), has been applied to a two wheeled inverted pendulum robot. First, the dynamic equations of a Segway-like 2-wheeled inverted pendulum robot has been derived. The GPC method has been employed so that the output of the closed loop system tracks a desired trajectory. The comparison of the results with that of a classical tracking control method shows that the GPC controller has produced a better tracking performance for the robot.
Keywords :
"Robot kinematics","Wheels","Predictive control","Mathematical model","Legged locomotion"
Conference_Titel :
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
DOI :
10.1109/ICRoM.2015.7367776
