Fast embedded MPC on Lego NXT

A Segway-like two-wheel vehicle. We use a linear model predictive control (MPC) scheme to stabilise the system. The optimal control problem is in the form of a quadratic program, which is solved using Nesterov's gradient method.
System: 8 states, 2 inputs linear plant.
Hardware: 48 MHz ARM7 microcontroller.
Software: nxtOSEK real-time operating system, with 4 ms hard real-time MPC task.
Developed at the Institute for Automation Engineering, Otto-von-Guericke University, Magdeburg, Germany.

Category:

Science & Technology

Tags:

• segway
• lego
• embedded
• linear
• MPC