Path-Following Model Predictive Control of Ballbots

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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 contributionRutefølgende Model Prædiktiv Regulering af Ballbots
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
PublisherIEEE
Publication date15 Sep 2020
Pages1498-1504
Article number9196634
ISBN (Print)978-1-7281-7396-2
ISBN (Electronic)978-1-7281-7395-5
DOIs
Publication statusPublished - 15 Sep 2020
Event2020 IEEE International Conference on Robotics and Automation -
Duration: 31 May 202031 Aug 2020
http://www.icra2020.org

Conference

Conference2020 IEEE International Conference on Robotics and Automation
Period31/05/202031/08/2020
Internet address
SeriesI E E E International Conference on Robotics and Automation
ISSN2152-4092

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