Path-Following Model Predictive Control of Ballbots
Thomas K. Jespersen,Mohammad al Ahdab,Juan de Dios F. Mendez,Malte R. Damgaard,Karl D. Hansen,Rasmus Pedersen,Thomas Bak,Thomas K. Jespersen,Mohammad al Ahdab,Juan de Dios F. Mendez,Malte R. Damgaard,Karl D. Hansen,Rasmus Pedersen,Thomas Bak
This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is e...
