Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/736
Title: Adaptive Model Predictive Control of a Two-wheeled Robot Manipulator with Varying Mass
Authors: Önkol, Mert
Kasnakoğlu, Coşku
143585
Keywords: Wheeled inverted pendulum
Fixed-wing aircraft
Mobile robot
Feedback linearization
Output-feedback
Design
Systems
Dynamics
Issue Date: Mar-2018
Publisher: SAGE Publications Ltd
Source: Önkol, M., & Kasnakoğlu, C. (2018). Adaptive model predictive control of a two-wheeled robot manipulator with varying mass. Measurement and Control, 51(1-2), 38-56.
Abstract: This paper presents the adaptive model predictive control approach for a two-wheeled robot manipulator with varying mass. The mass variation corresponds to the robot picking and placing objects or loads from one place to another. A linear parameter varying model of the system is derived consisting of local linear models of the system at different values of the varying parameter. An adaptive model predictive control controller is designed to control the fast-varying center of gravity angle in the inner loop. The reference for the inner loop is generated by a slower outer loop controlling the linear position using a linear quadratic Gaussian regulator. This adaptive model predictive control/linear quadratic Gaussian control system is simulated on the nonlinear model of the robot, and the closed-loop performance of the proposed scheme is compared with a system having inner/outer loop controllers as proportional integral derivative/proportional integral derivative, feedback linearization/linear quadratic Gaussian, and linear quadratic Gaussian/linear quadratic Gaussian. It is seen that adaptive model predictive control shows mostly superior and otherwise very good performance when compared to these benchmarks in terms of reference tracking and robustness to mass parameter variations.
URI: https://journals.sagepub.com/doi/10.1177/0020294018758527
https://hdl.handle.net/20.500.11851/736
ISSN: 0020-2940
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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