Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control
提出一种面向安全的轮椅速度跟踪控制算法，利用集合成员估计在线处理不确定参数，并通过自适应模型预测控制确保安全约束，适用于参考速度可行或不可行的情况。
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 safety-oriented 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 parameters online in deterministic sets. Additionally, we present a model predictive control scheme with real-time adaptation of the system model and controller parameters to ensure safety-related constraint satisfaction during the tracking process. This proposed controller effectively guides the wheelchair speed toward the desired reference while maintaining safety constraints. In cases where the reference is inadmissible and violates constraints, the controller can navigate the system to the vicinity of the nearest admissible reference. The efficiency of the proposed control scheme is demonstrated through high-fidelity speed tracking results from two tasks involving both admissible and inadmissible references.