Model Predictive Control for an Inverted-pendulum Robot with Time-varying Constraints

Takashi Ohhira, Akira Shimada

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)776-781
Number of pages6
Issue number1
Publication statusPublished - 2017 Jul


  • Inverted Pendulum (IP) Robot
  • Model Predictive Control (MPC)
  • Movement Control
  • Real-time Optimization
  • Time-Varying Constraint

ASJC Scopus subject areas

  • Control and Systems Engineering


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