A Numerical Verification of Model Predictive Control using Partitioned Model for Leg/Wheel Mobile Robots

被引：0

作者：

Shibata, Naoki ^{[1
]}

Hagimori, Yuki ^{[2
]}

Nonaka, Kenichiro ^{[1
]}

Sekiguchi, Kazuma ^{[1
]}

机构：

[1] Tokyo City Univ, Mech Syst Engn, Tokyo, Japan

[2] Tokyo City Univ, Tokyo, Japan

来源：

2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2017年

关键词：

Leg/wheel mobile robot; Model predictive control; Partitioned model; Embedded system; OPTIMIZATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

When leg/wheel mobile robots are controlled by model predictive control (MPC), the optimization is too complex for an embedded CPU. Then, we proposed a method which reduces computational complexity by sequential optimization for the models partitioned into each leg. However, robustness of the proposed method was not evaluated enough in the disturbing environment. In this paper, we conduct simulations on the inclined plane to evaluate the robustness. Through the simulations, the robustness of the proposed method is improved by changing the control cycle and the predictive length.

引用

页码：634 / 639

页数：6

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