2021/03/26 by Krupa, Pablo, Camara, Jose, Alvarado, Ignacio +2 · 1 citation
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2103.14571
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.