非線形モデル予測制御のクローラータイプ階段昇降ロボットへの適用に関する研究

長田 宗一郎; 板垣 郁弥; 長津 裕己; 橋本 秀紀

doi:10.1299/jsmermd.2022.1P1-S02

2022

Session ID : 1P1-S02

DOI https://doi.org/10.1299/jsmermd.2022.1P1-S02

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 01, 2022 - June 04, 2022

A Study on Application of Nonlinear Model Predictive Control to Crawler Type Stair Climbing Robot

*Soichiro NAGATA, Fumiya ITAGAKI, Yuki NAGATSU, Hideki HASHIMOTO

Author information

Keywords: Robot, Model predictive control, Non-linear model predictive control, Stair Climbing

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details

Abstract

In this study, nonlinear model predictive control is applied to a crawler-type stair-climbing robot. Currently, the robot in this study is controlled based on a linear model that linearizes the target system. Therefore, it is not possible to control the swinging up of the front wheels. To overcome these shortcomings, we applied nonlinear model predictive control.

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