dc.creator | Krupa García, Pablo | es |
dc.creator | Cámara, José | es |
dc.creator | Alvarado Aldea, Ignacio | es |
dc.creator | Limón Marruedo, Daniel | es |
dc.creator | Álamo Cantarero, Teodoro | es |
dc.date.accessioned | 2022-11-24T15:25:16Z | |
dc.date.available | 2022-11-24T15:25:16Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-94-6384-236-5 | es |
dc.identifier.uri | https://hdl.handle.net/11441/139759 | |
dc.description.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 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. | es |
dc.description.sponsorship | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)DPI2016-76493-C3-1-R | es |
dc.description.sponsorship | Ministerio de Ciencia, Innovación y Universidades. FPI-2017 | es |
dc.description.sponsorship | Agencia Estatal de Investigación. España PID2019-106212RB-C41/AEI/10.13039/501100011033 | es |
dc.format | application/pdf | es |
dc.format.extent | 6 p. | es |
dc.language.iso | eng | es |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | es |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Model predictive control | es |
dc.subject | Embedded system | es |
dc.subject | Extended ADMM | es |
dc.title | Real-time implementation of MPC for tracking in embedded systems: application to a two-wheeled inverted pendulum | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | DPI2016-76493-C3-1-R | es |
dc.relation.projectID | FPI-2017 | es |
dc.relation.projectID | PID2019-106212RB-C41/AEI/10.13039/501100011033 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9654899 | es |
dc.identifier.doi | 10.23919/ECC54610.2021.9654899 | es |
dc.publication.initialPage | 669 | es |
dc.publication.endPage | 674 | es |
dc.eventtitle | 2021 European Control Conference, ECC 2021 | es |
dc.eventinstitution | Delft, Países Bajos | es |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) | es |
dc.contributor.funder | Ministerio de Ciencia, Innovación y Universidades (MICINN). España | es |
dc.contributor.funder | Agencia Estatal de Investigación. España | es |
dc.contributor.funder | MINERCO (España) | es |