Real-time implementation of MPC for tracking in embedded systems: application to a two-wheeled inverted pendulum

Description

This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the expense of the addition of a small number of decision variables, which complicates the inner structure of the matrices of the optimization problem. We implement a sparse solver, based on an extension of the alternating direction method of multipliers, in the system's embedded hardware. The results indicate that the solver is suitable for controlling a real system with sample times in the range of milliseconds using current, readily-available hardware.

Abstract

European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)DPI2016-76493-C3-1-R

Abstract

Ministerio de Ciencia, Innovación y Universidades. FPI-2017

Abstract

Agencia Estatal de Investigación. España PID2019-106212RB-C41/AEI/10.13039/501100011033

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