Modeling Dynamic of the Human-Wheelchair System Applied to NMPC

This paper presents the development of algorithm nonlinear predictive controller based on the model, NMPC, trajectory tracking applied to a wheelchair. Also it illustrated the kinematic and dynamic modeling of human-wheelchair system is considered in which the deviation of the center of gravity of the system due to postural problems of man, limb amputations, or obesity user. In NMPC they considered restrictions on control measures, as well as in the states of the system. The results show that the movements of the wheelchair converge to the desired trajectory in accordance with the provisions of the theoretical design; with analysis times NMPC calculation algorithm concludes that the controller can be implemented in real time.