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Robust MPC Method for BMI Based Wheelchair

Author(s): Tohru Kawabe

Journal: Intelligent Control and Automation
ISSN 2153-0653

Volume: 02;
Issue: 04;
Start page: 340;
Date: 2011;
Original page

Keywords: Wheelchair | Brain Machine Interface | Model Predictive Control | Adaptive DA Converter | Minimax Optimization

In this paper, robust MPC (Model Predictive Control) with adaptive DA converter method for the wheelchair using EEG (Electroencephalogram) based BMI (Brain Machine Interface) is discussed. The method is developed to apply to the obstacle avoidance system of wheelchair. This paper is the 1st stage for the development of the BMI based wheelchair in practical use. The robust MPC method is realized by using the minimax optimization with bounded constraint conditions. Some numerical examples are also included to demonstrate the effectiveness of the proposed methodas the former stage of the real experiments.
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