Abstract
This paper presents the development of algorithm nonlinear predictive controller based on the model, NMPC, trajectory tracking applied to a wheelchair. Also it illustrated the kinematic and dynamic modeling of human-wheelchair system is considered in which the deviation of the center of gravity of the system due to postural problems of man, limb amputations, or obesity user. In NMPC they considered restrictions on control measures, as well as in the states of the system. The results show that the movements of the wheelchair converge to the desired trajectory in accordance with the provisions of the theoretical design; with analysis times NMPC calculation algorithm concludes that the controller can be implemented in real time.
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Acknowledgment
The authors would like to thanks to Universidad Técnica de Ambato for financing the project Robotic Assistance for Persons with Disabilities (Resolution: 1151-CU-P-2012). Also to the Universidad de las Fuerzas Armadas ESPE and to the Escuela Superior Politécnica de Chimborazo for the support to develop of the Master’s Thesis Modelación y Control Predictivo de un Robot Móvil con Centro de Masa Desplazado.
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Andaluz, G.M. et al. (2016). Modeling Dynamic of the Human-Wheelchair System Applied to NMPC. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9835. Springer, Cham. https://doi.org/10.1007/978-3-319-43518-3_18
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DOI: https://doi.org/10.1007/978-3-319-43518-3_18
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