Model predictive control of a wheeled inverted pendulum robot

Abstract

In this paper, a model predictive control method, namely the Generalized Predictive Control (GPC), has been applied to a two wheeled inverted pendulum robot. First, the dynamic equations of a Segway-like 2-wheeled inverted pendulum robot has been derived. The GPC method has been employed so that the output of the closed loop system tracks a desired trajectory. The comparison of the results with that of a classical tracking control method shows that the GPC controller has produced a better tracking performance for the robot.