A Real-Time Multi-Objective Predictive Control Strategy for Wheelchair Ergometer Platform
| Autor: | Thierry Poulain, Viet Thuan Nguyen, Toufik Bentaleb, Gerald Conreur, Chouki Sentouh, Philippe Pudlo |
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| Přispěvatelé: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS) |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science PID controller 020206 networking & telecommunications 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Manual wheelchair Model predictive control 020901 industrial engineering & automation Wheelchair Control theory Control system 0202 electrical engineering electronic engineering information engineering Torque ComputingMilieux_MISCELLANEOUS Simulation Haptic technology |
| Zdroj: | SMC 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2019, Bari, Italy. pp.2397-2404, ⟨10.1109/SMC.2019.8914220⟩ |
| Popis: | This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform, which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model, where the trust-region-reflective algorithm is adopted. A detailed study of the wheelchair dynamics, and its performance on the rollers, and the frictions are presented. The main contribution is the implementation of a wheelchair ergometer model into a proposed controller in order to provide realistic navigation within the VR world by accurately detecting and tracking the rotation of the driving wheels. In particular, the proposed strategy has two objectives: 1) to generate force feedback (haptics) during the push phase (hand-to-rim contact); 2) assistance control to make the wheelchair movement more realistic in the immersive virtual environment during the recovery phase (hand-to-rim no contact). Various numerical examples emphasize the flexibility of the approach and experimental results confirm that the proposed controller successfully tracks the speed reference. It is also shown that the real-time tracking ability of the explicit MPC (eMPC) controller is superior to that of the PI controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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