NXT MPC Ball on Plate

LEGO MINDSTORMS NXT Ball on Plate system that balances a ball in the center of the plate. The control on the two directions is decoupled: on both directions, the system is stabilized by a loop-in-the-loop structure. A Model Predictive Control regulator provides reference angles for the motors, that in their turn are tracked by PD controllers.
The explicit MPC controller is designed using
MATLAB Hybrid Toolbox (http://www.dii.unisi.it/hybrid/)
by Alberto Bemporad (http://www.dii.unisi.it/~bemporad/)

http://daniele.benedettelli.com

Category:

Science & Technology

Tags:

• ball
• plate
• beam
• system
• LEGO
• NXT
• control
• robotics

[sausagesnail]

looks fake

[mentulatus]

@sausagesnail

Looks you do not have the pale idea of what's behind such control system.

[gdunes]

Did you do it?

or

Did you read from the book?

[mentulatus]

@gdunes

Which book?

[magemager0]

how did you get the ball placement on the LCD and did u use the ur own language to program it?

[mentulatus]

I use NXC to program it.

The program is really simple, since it implements a powerful piecewise affine state feedback control law (explicit MPC).

[thatch5550]

stick 2 balls on it i want t see what happens

[sausagesnail]

@mentulatus confirmed as a fake. google search show it. learn to internet

[robson1014]

awesome

[busfany]

Cool

[alquiora]

Could be better if you use a PID system

[1100heb]

Cool

[oOcytewinderOo]

gret work dude! xD

[tiki820]

Fantastic projec.

[sausagesnail]

it even says in the description its fake