Movement Control for Two-wheeled Inverted Pendulum Type Robot Based on Model Predictive Control Considering Time-Varying Constraints

Abstract

This study proposes a movement control system for a two-wheel inverted pendulum (IP) robot, which is a personal robot that interacts with people. Safety and stability are important parameters in designing a robot for personal use. To achieve this, model predictive control (MPC) may be a suitable control technique. The controller presented in this study ensures safety by imposing time-varying constraints with respect to velocity and stability by imposing time-invariant constraints with respect to the controller input and body-tilt angle. Finally, this study presents good validation results via the movement control simulation of the IP robot.