Path-Following Model Predictive Control of Ballbots

被引：0

作者：

Jespersen, Thomas K. ^{[1
,2
]}

al Ahdab, Mohammad ^{[1
]}

Mendez, Juan de Dios F. ^{[1
]}

Damgaard, Malte R. ^{[1
]}

Hansen, Karl D. ^{[1
]}

Pedersen, Rasmus ^{[1
]}

Bak, Thomas ^{[1
]}

机构：

[1] Aalborg Univ, Dept Elect Syst, Aalborg, Denmark

[2] nuTonomy, APTIV, Singapore, Singapore

来源：

2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年

关键词：

D O I：

10.1109/icra40945.2020.9196634

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplified version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is extended to handle nearby obstacles directly in the MPC formulation. The presented controller is validated through simulation on a high fidelity model as well as through real-world experiments on a physical ballbot system.

引用

页码：1498 / 1504

页数：7

共 50 条

[1] Nonlinear Model Predictive Path-Following Control
Faulwasser, Timm
Findeisen, Rolf
[J]. NONLINEAR MODEL PREDICTIVE CONTROL: TOWARDS NEW CHALLENGING APPLICATIONS, 2009, 384 : 335 - 343
[2] Analysis of explicit model predictive control for path-following control
Lee, Junho
Chang, Hyuk-Jun
[J]. PLOS ONE, 2018, 13 (03):
[3] Path-Following Guidance Using Model Predictive Path Integral Control
Jeong, Eui-Taek
Lee, Chang-Hun
[J]. PROCEEDINGS OF THE 2021 ASIA-PACIFIC INTERNATIONAL SYMPOSIUM ON AEROSPACE TECHNOLOGY (APISAT 2021), VOL 2, 2023, 913 : 313 - 326
[4] Path-Following Control of an AUV: A Multiobjective Model Predictive Control Approach
Shen, Chao
Shi, Yang
Buckham, Brad
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2019, 27 (03) : 1334 - 1342
[5] Model Predictive Interaction Control based on a Path-Following Formulation
Goller, Tim
Gold, Tobias
Voelz, Andreas
Graichen, Knut
[J]. PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022), 2022, : 551 - 556
[6] Path-Following Control of Power Kites: An Economic Model Predictive Control Perspective
Zhang, Zhang
Shi, Yang
[J]. 2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), 2019, : 2164 - 2169
[7] Model Predictive Path-Following Control of Snake Robots Using an Averaged Model
Fukushima, Hiroaki
Yanagiya, Taro
Ota, Yusuke
Katsumoto, Masahiro
Matsuno, Fumitoshi
[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2021, 29 (06) : 2444 - 2456
[8] Model Predictive Path-Following for Bike Robot
Kim, Yongjae
Yamakita, Masaki
[J]. 2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2013, : 1592 - 1597
[9] Model Predictive Path-Following Control for Airborne Wind Energy Systems
Diwale, Sanket
Faulwasser, Timm
Jones, Colin N.
[J]. IFAC PAPERSONLINE, 2017, 50 (01): : 13270 - 13275
[10] Nonlinear Model Predictive Path-Following Control for Highly Automated Driving
Ritschel, Robert
Schroedel, Frank
Haedrich, Juliane
Jaekel, Jens
[J]. IFAC PAPERSONLINE, 2019, 52 (08): : 350 - 355

← 1 2 3 4 5 →