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

抄録

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.