Identification and model predictive position control of Two Wheeled Inverted Pendulum mobile robot

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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Bibliographic Details
Main Authors: Bature, Amir A. (Author), Buyamin, Salinda (Author), Ahmad, Mohamad Noh (Author), Muhammad, Mustapha (Author), Muhammad, Auwalu A. (Author)
Format: Article
Language:English
Published: Penerbit UTM Press, 2015-02.
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:Get fulltext
Description
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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