Path-Following Model Predictive Control of Ballbots

Bidragets oversatte titel: Rutefølgende Model Prædiktiv Regulering af Ballbots

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Abstrakt

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 simplied 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.

Bidragets oversatte titelRutefølgende Model Prædiktiv Regulering af Ballbots
OriginalsprogEngelsk
Titel2020 IEEE International Conference on Robotics and Automation (ICRA)
Antal sider7
ForlagIEEE
Publikationsdato15 sep. 2020
Sider1498-1504
Artikelnummer9196634
ISBN (Trykt)978-1-7281-7396-2
ISBN (Elektronisk)978-1-7281-7395-5
DOI
StatusUdgivet - 15 sep. 2020
Begivenhed2020 IEEE International Conference on Robotics and Automation -
Varighed: 31 maj 202031 aug. 2020
http://www.icra2020.org

Konference

Konference2020 IEEE International Conference on Robotics and Automation
Periode31/05/202031/08/2020
Internetadresse
NavnI E E E International Conference on Robotics and Automation
ISSN2152-4092

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