Design and Simulation of a Model Predictive Controller for a Balancing Robot

XVII International Conference on Systems, Automatic Control and Measurements, SAUM 2024 (pp. 15-18)

АУТОР(И) / AUTHOR(S): Vladimir Sibinović , Vladimir Mitić , Anđela Jovanović , Darko Mitić 

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DOI:  10.46793/SAUM24.015S

САЖЕТАК / ABSTRACT:

This paper explores the design and implementation of a cart inverted pendulum system, controlled using a model predictive controller. The system has been designed to serve as an educational platform that demonstrates the stabilization of an inherently unstable system. A complete workflow is provided, starting with the computer-aided design, followed by the system modeling and the implementation of a model predictive controller. The controller has been tested through various simulation scenarios, including displacement from stable point and different referent positions, to assess the system’s stability and recovery limits. Simulation results are presented with a brief discussion of the responses. The system has been designed to allow further extensions, making it a versatile tool for control theory education and research.

КЉУЧНЕ РЕЧИ / KEYWORDS:

model predictive controller, inverted pendulum, balancing robot, system design, control theory

ПРОЈЕКАТ/ ACKNOWLEDGEMENT:

This work was supported by the Ministry of Science, Technological Development and Innovation of the Republic of Serbia [grant number 451-03-65/2024-03/200102].

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