Predictive control for trajectory tracking of an electrical wheelchair

In this work a fixed one step ahead predictive control has been applied to control angular position and linear velocity of an electrical wheelchair. The purpose of such as controller is to assist wheelchair users providing an easier and safer navigation. In addition the importance of this type of control is its effect by operation of the feedforward path to follow in the future, on the other hand, it is possible to exploit fully the information of predefined trajectories, the goal of this strategy is matching the output of the process with setpoint in the future. The study itself was very rewarding because it been conducted since the modeling phase based on Langrage analysis of the wheelchair until the design phase of the control law. The simulation results shows the effectiveness of the one step ahead predictive control in term of reference tracking, where an accurate tracking of angular position and linear velocity modulus smooth reference signals is exhibited.