Published November 24, 2022
| Version v1
Publication
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-RAbstract
Ministerio de Ciencia, Innovación y Universidades. FPI-2017Abstract
Agencia Estatal de Investigación. España PID2019-106212RB-C41/AEI/10.13039/501100011033Additional details
Identifiers
- URL
- https://idus.us.es/handle//11441/139759
- URN
- urn:oai:idus.us.es:11441/139759