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 proceedingArticle in proceedingResearchpeer-review

2 Citations (Scopus)
156 Downloads (Pure)


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 contributionRutefølgende Model Prædiktiv Regulering af Ballbots
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
Publication date15 Sept 2020
Article number9196634
ISBN (Print)978-1-7281-7396-2
ISBN (Electronic)978-1-7281-7395-5
Publication statusPublished - 15 Sept 2020
Event2020 IEEE International Conference on Robotics and Automation -
Duration: 31 May 202031 Aug 2020


Conference2020 IEEE International Conference on Robotics and Automation
Internet address
SeriesI E E E International Conference on Robotics and Automation


Dive into the research topics of 'Path-Following Model Predictive Control of Ballbots'. Together they form a unique fingerprint.
  • Robot Digital Signage

    Bak, T., Hansen, K. D., Pedersen, R. & Hansen, S. T.


    Project: Research

Cite this