• DocumentCode
    3720155
  • 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
  • fYear
    2015
  • Firstpage
    152
  • Lastpage
    157
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
  • Type

    conf

  • DOI
    10.1109/ICRoM.2015.7367776
  • Filename
    7367776
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3720155