Presentation
Real-time implementation of MPC for tracking in embedded systems: application to a two-wheeled inverted pendulum
Author/s | Krupa García, Pablo
Cámara, José Alvarado Aldea, Ignacio Limón Marruedo, Daniel Álamo Cantarero, Teodoro |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2021 |
Deposit Date | 2022-11-24 |
ISBN/ISSN | 978-94-6384-236-5 |
Abstract | 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 ... 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. |
Funding agencies | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) Ministerio de Ciencia, Innovación y Universidades (MICINN). España Agencia Estatal de Investigación. España MINERCO (España) |
Project ID. | DPI2016-76493-C3-1-R
FPI-2017 PID2019-106212RB-C41/AEI/10.13039/501100011033 |
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Real-time implementation of MPC ... | 1.106Mb | [PDF] | View/ | |