LMI-based Robust Constrained Model Predictive control of Two-Wheeled Inverted Pendulum

Two-Wheeled Inverted Pendulum (TWIP) robot is considered as an unstable and underactuated system affected by physical and environmental constrains. In addition, due to the mass and height uncertainties of pendulum, a robust control approach is needed to stabilize the posture of the TWIP.Robust Model Predictive Control (RMPC) based on linear matrix inequality (LMIs) is addressed to an optimization problem of the worst-case objective function over infinite moving horizon, subject to inputand output constraints. In this paper, LMI-based RMPC is applied to a TWIP in spite of modeluncertainty and motor torque constraint. The efficiency of the presented RMPC is verified by comparing with a LQR controller

Keywords:

Two-wheeled self balancing robot , Inverted pendulum , Robust Model Predictive Control (RMPC) , Linear matrix inequality (LMI)