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.
- Inverted Pendulum (IP) Robot
- Model Predictive Control (MPC)
- Movement Control
- Real-time Optimization
- Time-Varying Constraint
ASJC Scopus subject areas
- Control and Systems Engineering