Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot
DOI:
https://doi.org/10.11113/jt.v73.4467Keywords:
Two Wheeled Inverted Pendulum (TWIP), Grey box model, Model Predictive Control (MPC)Abstract
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.Â
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