Real-time implementation of MPC for tracking in embedded systems: Application to a two-wheeled inverted pendulum

Autor:	Krupa, Pablo, Camara, Jose, Alvarado, Ignacio, Limon, Daniel, Alamo, Teodoro
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: 6 pages, 9 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2103.14571 Zobrazit plný text záznamu View this record from Arxiv