Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control
Meng Yuan,
Ye Wang,
Lei Li
et al.
Abstract:Electric-powered wheelchairs play a vital role in ensuring accessibility for individuals with mobility impairments. The design of controllers for tracking tasks must prioritize the safety of wheelchair operation across various scenarios and for a diverse range of users. In this study, we propose a safetyoriented speed tracking control algorithm for wheelchair systems that accounts for external disturbances and uncertain parameters at the dynamic level. We employ a set-membership approach to estimate uncertain … Show more
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