چکیده مقاله
Two Wheeled Inverted Pendulum TWIP robot is considered as an unstable and underactuated system affected by physical and environmental constrains In addition, due to the mass and height uncertainties of pendulum, a robust control approach is needed to stabilize the posture of the TWIP Robust Model Predictive Control RMPC based on linear matrix inequality LMIs is addressed to an optimization problem of the worst case objective function over infinite moving horizon, subject to inputand output constraints In this paper, LMI based RMPC is applied to a TWIP in spite of modeluncertainty and motor torque constraint The efficiency of the presented RMPC is verified by comparing with a LQR controller
کلیدواژهها
نویسندگان
Niloufar Minouchehr
Ferdowsi University of Mashhad
Seyyed Kamal Hosseini-Sani
Ferdowsi University of Mashhad
شیوه ارجاع
Minouchehr, Niloufar and Hosseini-Sani, Seyyed Kamal,1394,LMI-based Robust Constrained Model Predictive control of Two-Wheeled Inverted Pendulum,International Conference on New Research Findings in Electrical Engineering and Computer Science,Tehran
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