Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot
In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was develo...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Penerbit UTM Press
2015
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/55643/1/MohamadNohAhmad2015_IdentificationandModelPredictivePositionControl.pdf http://eprints.utm.my/id/eprint/55643/ http://dx.doi.org/10.11113/jt.v73.4467 |
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| Summary: | In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. |
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