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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Dual-Mode Model Predictive Control of an Omnidirectional Wheeled Inverted Pendulum
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Dual-Mode Model Predictive Control of an Omnidirectional Wheeled Inverted Pendulum

机译：全向轮倒立摆的双模模型预测控制

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摘要

This article describes the position and heading control of a novel form of omnidirectional wheeled inverted pendulum platform known as a collinear Mecanum drive. This concept uses four collinear Mecanum wheels to balance in a similar manner to a typical two-wheeled inverted pendulum while also being able to simultaneously translate directly along its balance axis. Control is performed using a constrained time-optimal infinite horizon model predictive controller, with feasibility maintained across the full reference input set. Explored in this article is the derivation of the system dynamics model and controller, a systematic approach to selection of controller parameters and analysis of their effect on control performance and complexity, and an evaluation of the controllers efficacy in both simulation and on a real-world experimental prototype for simple and complex trajectories.
机译：本文介绍了一种新颖形式的全向轮式倒立摆平台的位置和航向控制，该平台称为共线Mecanum驱动器。这个概念使用四个共线的麦克纳姆轮，以类似于典型的两轮倒立摆的方式进行平衡，同时还能够同时沿其平衡轴直接平移。使用受约束的时间最优无限水平模型预测控制器执行控制，并在整个参考输入集中保持可行性。本文探讨的是系统动力学模型和控制器的推导，选择控制器参数并分析其对控制性能和复杂性影响的系统方法，以及对控制器在仿真和实际环境中的效能进行评估简单和复杂轨迹的实验原型。

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