Simulation Based Validation of MPC for Two wheeled Jumping Robot

Abstract

This thesis is presents the study a two wheel jumped robot with a nonlinear model predictive controller. In this research the propose template is a variable length wheeled inverted pendulum template model for the class of such two wheeled jumping robots. The robot havevariable length due to prismatic joint extension. The robot can create velocity through this extension joint movement to jump over obstacles and swing up to the equilibrium position after losing equilibrium. This model can be considered as the simplest two wheeled legged inverted pendulum system. Basically this robot have contained two phase which are swing up and balance phase and the second is Variable length wheeled Inverted pendulum phase. Initially the robot in car mode in the first phase the robot perform swing-up and balancethe robot mode changed from car mode to two wheeled invert pendulum mode second phase. In the second phase the robot perform three task pre-takeoff, flight and landing tasks. The analytical modeling of the system dynamics are presented thatapplied to thenonlinear model predictive controller (NMPC) to help robotto complete its two phase mission.Additionally, I observed the model's behavior and performed highly dynamic motions like swinging up, balancing, and jumping. These movements are also found through optimization using fundamental principles.And I can able to show the task of the robot such as swing up, balancing and jumping motion in result section. Additionally the performanceNMPCcontroller and proportional derivative (PD) controller are compare and evaluatedthrough control characteristics performance based and also can get better result