Experiment Video of Possibilistic Filtering and Optimization-Based Control of the Ball-on-Wheel System

This microcontroller also facilitates communication with an external PC and transmits control commands following from the considered estimation and control schemes to the motor controller. Notably, the second scheme, i.e., EKF combined with nominal MPC, relies solely on a single state estimate, accounting only for uncertainties of aleatoric nature. In contrast, the proposed scheme (RPPF and min-max MPC) shown in the first part of the video also considers uncertainties of epistemic nature.

It does so by capturing all possible system states through a possibilistic particle filter. For control decisions, the set of all possible states in the current time step is reduced to the worst-case subset, enabling robust stabilization of the the unstable equilibrium via an implicit control law embedded within the min-max MPC framework. A quantitative analysis of both schemes, as well as further details on the proposed method, hardware setup, and utilized parameters, can be found in the related publication associated with this video.