Watson, M.T. orcid.org/0000-0001-8443-4372, Gladwin, D.T., Prescott, T.J. et al. (1 more author) (2019) Dual-mode model predictive control of an omnidirectional wheeled inverted pendulum. IEEE/ASME Transactions on Mechatronics, 24 (6). pp. 2964-2975. ISSN 1083-4435
Abstract
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, whilst 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 controller's efficacy in both simulation and on a real-world experimental prototype for simple and complex trajectories.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Dynamics; Underactuated Robots; Wheeled Robots |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Electronic and Electrical Engineering (Sheffield) |
Funding Information: | Funder Grant number Consequential Robotics Ltd N/A Engineering and Physical Sciences Research Council (EPSRC) EP/M508135/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 30 Sep 2019 10:31 |
Last Modified: | 25 Sep 2020 00:39 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/tmech.2019.2943708 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:151418 |