Teaching Model Predictive Control Algorithm Using Starter Kit Robot

Figures & data

Figure 1 The National Instrument (NI) starter kit robot (National Instruments 2011).

Table 1 Logical rules for switching between CC and ACC modes.

	v h < v des	v h ≥ v des
d < d des	ACC	CC
d ≥ d des	CC	CC

Figure 2 The schematic block diagram of utilising a single MPC for an ACC system.

Table 2 The tuning parameters of MPC.

	ry1	ry2	ry3	ru	N
ACC	1	1	1	10	10
CC	1	0	0	10	10

Figure 3 The configuration of the LabVIEW block functions for implementing the ACC on a robot.

Figure 4 Distance tracking (ACC) mode using MPC: (a) the inter-distance between the robots using test robot; (b) the inter-distance between the robots from simulation implementation; (c) the velocities obtained during distance tracking using test robot and from simulation implementation.

Figure 5 Velocity tracking (CC) and switching modes using MPC: (a) the velocities obtained during distance tracking from test robot and simulation implementation; (b) the distance during velocity tracking utilising real robot; (c) the distance during velocity tracking obtained from simulation.

Figure 6 The test implemented by using two robots corresponding to leading and following robots: (a) the distance measured via ultrasonic range finder; (b) the velocity comparison between following and leading robots.

National Instrument (2011) Available at http://zone.ni.com/devzone/cda/tut/p/id/10464 (accessed 15 September 2011).

 Google Scholar