Path-Following Model Predictive Control of Ballbots

Thomas Kølbæk Jespersen; Mohamad Al Ahdab; Juan de Dios Flores Méndez; Malte Rørmose Damgaard; Karl Damkjær Hansen; Rasmus Pedersen; Thomas Bak

doi:10.1109/ICRA40945.2020.9196634

Path-Following Model Predictive Control of Ballbots

Thomas Kølbæk Jespersen, Mohamad Al Ahdab, Juan de Dios Flores Méndez, Malte Rørmose Damgaard, Karl Damkjær Hansen, Rasmus Pedersen, Thomas Bak

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

3 Citations (Scopus)

256 Downloads (Pure)

Abstract

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.

Translated title of the contribution	Rutefølgende Model Prædiktiv Regulering af Ballbots
Original language	English
Title of host publication	2020 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages	7
Publisher	IEEE
Publication date	15 Sept 2020
Pages	1498-1504
Article number	9196634
ISBN (Print)	978-1-7281-7396-2
ISBN (Electronic)	978-1-7281-7395-5
DOIs	https://doi.org/10.1109/ICRA40945.2020.9196634
Publication status	Published - 15 Sept 2020
Event	2020 IEEE International Conference on Robotics and Automation - Duration: 31 May 2020 → 31 Aug 2020 http://www.icra2020.org

Conference

Conference	2020 IEEE International Conference on Robotics and Automation
Period	31/05/2020 → 31/08/2020
Internet address	http://www.icra2020.org

Series	I E E E International Conference on Robotics and Automation
ISSN	2152-4092

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10.1109/ICRA40945.2020.9196634

Path-following Model Predictive Control of BallbotsAccepted author manuscript, 1.64 MB

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@inproceedings{ff172b8df8384fae9e9914f7bad7b001,

title = "Path-Following Model Predictive Control of Ballbots",

abstract = "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.",

author = "Jespersen, {Thomas K{\o}lb{\ae}k} and Ahdab, {Mohamad Al} and M{\'e}ndez, {Juan de Dios Flores} and Damgaard, {Malte R{\o}rmose} and Hansen, {Karl Damkj{\ae}r} and Rasmus Pedersen and Thomas Bak",

year = "2020",

month = sep,

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doi = "10.1109/ICRA40945.2020.9196634",

language = "English",

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series = "I E E E International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "1498--1504",

booktitle = "2020 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2020 IEEE International Conference on Robotics and Automation ; Conference date: 31-05-2020 Through 31-08-2020",

url = "http://www.icra2020.org",

}

Jespersen, TK, Ahdab, MA, Méndez, JDDF, Damgaard, MR, Hansen, KD, Pedersen, R & Bak, T 2020, Path-Following Model Predictive Control of Ballbots. in 2020 IEEE International Conference on Robotics and Automation (ICRA)., 9196634, IEEE, I E E E International Conference on Robotics and Automation, pp. 1498-1504, 2020 IEEE International Conference on Robotics and Automation, 31/05/2020. https://doi.org/10.1109/ICRA40945.2020.9196634

Path-Following Model Predictive Control of Ballbots. / Jespersen, Thomas Kølbæk; Ahdab, Mohamad Al; Méndez, Juan de Dios Flores et al.
2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. p. 1498-1504 9196634 (I E E E International Conference on Robotics and Automation).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Path-Following Model Predictive Control of Ballbots

AU - Jespersen, Thomas Kølbæk

AU - Ahdab, Mohamad Al

AU - Méndez, Juan de Dios Flores

AU - Damgaard, Malte Rørmose

AU - Hansen, Karl Damkjær

AU - Pedersen, Rasmus

AU - Bak, Thomas

PY - 2020/9/15

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N2 - 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.

AB - 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.

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BT - 2020 IEEE International Conference on Robotics and Automation (ICRA)

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T2 - 2020 IEEE International Conference on Robotics and Automation

Y2 - 31 May 2020 through 31 August 2020

ER -

Path-Following Model Predictive Control of Ballbots

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Path-Following Model Predictive Control of Ballbots

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