Title :
Predictive Control via Multi-Parametric Programming Applied to the Dynamic Model of a Robotic Wheelchair
Author :
Weinkeller, Gustavo P C ; Salles, José L F ; Filho, Teodiano F b
Author_Institution :
Dept. of Autom. Control Eng., UCL, Vitoria, Brazil
Abstract :
This paper proposes the use of an explicit dynamic predictive control which is a PWA (PieceWise Affine) function of the dynamic model states of a robotic wheelchair. The optimization algorithmic is based on Multi-parametrical Programming, allowing all calculations of this controller be performed off-line, before starting the system operation, resulting in a reduction of online computational time. Some simulation and experimental results illustrate the effectiveness of the proposed method.
Keywords :
mathematical programming; mobile robots; predictive control; robot dynamics; wheelchairs; PWA function; dynamic model state; explicit dynamic predictive control; multiparametric programming; online computational time; optimization algorithm; piecewise affine function; robotic wheelchair; Mathematical model; Mobile robots; Predictive control; Predictive models; Programming; Wheelchairs; Multi-parametric Programming; Predictive Control; Robot Wheelchair;
Conference_Titel :
Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian
Conference_Location :
Fortaleza
Print_ISBN :
978-1-4673-4650-4
DOI :
10.1109/SBR-LARS.2012.36
