Model Predictive Path-Following for Bike Robot

In this paper, we apply model predictive control(MPC) to unmanned bicycle system(Bike robot) solving a path-following problem. The bicycle system has a balancer of which shape and mobility is similar to those of a inverted pendulum. We use MPC because of its advantages, i.e., it is efficient when applied to multi-input multi-output systems, and able to handle constraints on actuators, etc. To avoid the delay in computational calculations, we incorporated fast feedback algorithm in the MPC. To solve spatial tracking problem for the bicycle system without sideslip, we propose an approach solving path-following problem, considering the constraint conditions in the MPC. The effectiveness will be shown by numerical simulations.