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conference paper
A Lego Mindstorms NXT Experiment for Model Predictive Control Education
2013
2013 European Control Conference (ECC)
This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control theory. The case of a two-wheeled inverted pendulum is considered as at-size scenario. For such a system, starting from its mathematical modeling, an established design methodology is presented aiming to outline step-by-step the predictive controller implementation on a low-power architecture. The effectiveness of this multidisciplinary approach is illustrated along this presentation and demonstrated with experimental results.
Type
conference paper
Authors
Publication date
2013
Published in
2013 European Control Conference (ECC)
Start page
2549
End page
2554
Peer reviewed
REVIEWED
EPFL units
Event name | Event place | Event date |
Zurich, Switzerland | 2013 | |
Available on Infoscience
September 30, 2013
Use this identifier to reference this record