Predictive Control via Multi-Parametric Programming Applied to the Dynamic Model of a Robotic Wheelchair

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.

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