Model Predictive Control for a Brain-controlled Mobile Robot

被引：0
作者：
He, Fujian [1 ]
Bi, Luzheng [1 ]
Lu, Yun [1 ]
Li, Hongqi [1 ]
Wang, Ling [2 ]
机构：
[1] Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China
[2] Tsinghua Univ, Dept Automat, Beijing, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2017年
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
brain-computer interfaces; brain-controlled mobile robots; model predictive control; WHEELCHAIR; INTERFACE; EEG;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The control performance and safety of current brain-controlled mobile robots are limited. To address this problem, in this paper, we design an assistive controller based on the model predictive control method. The proposed controller fuses tracking user intention and guaranteeing safety of brain-controlled mobile robots into an optimization problem. In this way, the proposed controller can make users control a brain-controlled mobile robot as much as possible given the mobile robot is safe. The experimental results show that the proposed controller can improve the control performance of the brain-controlled simulated mobile robot and guarantee its safety.
引用
收藏
页码：3184 / 3188
页数：5
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