Model predictive control for a brain-controlled mobile robot

Fujian He; Luzheng Bi; Yun Lu; Hongqi Li; Ling Wang

doi:10.1109/SMC.2017.8123118

Model predictive control for a brain-controlled mobile robot

Fujian He, Luzheng Bi^*, Yun Lu, Hongqi Li, Ling Wang

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3184-3188
Number of pages	5
ISBN (Electronic)	9781538616451
DOIs	https://doi.org/10.1109/SMC.2017.8123118
Publication status	Published - 27 Nov 2017
Event	2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 - Banff, Canada Duration: 5 Oct 2017 → 8 Oct 2017

Publication series

Name	2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
Volume	2017-January

Conference

Conference	2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
Country/Territory	Canada
City	Banff
Period	5/10/17 → 8/10/17

Keywords

Brain-computer interfaces
Brain-controlled mobile robots
Model predictive control

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10.1109/SMC.2017.8123118

Cite this

He, F., Bi, L., Lu, Y., Li, H., & Wang, L. (2017). Model predictive control for a brain-controlled mobile robot. In 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 (pp. 3184-3188). (2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2017.8123118

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title = "Model predictive control for a brain-controlled mobile robot",

abstract = "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.",

keywords = "Brain-computer interfaces, Brain-controlled mobile robots, Model predictive control",

author = "Fujian He and Luzheng Bi and Yun Lu and Hongqi Li and Ling Wang",

note = "Publisher Copyright: {\textcopyright}2017 IEEE; 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 ; Conference date: 05-10-2017 Through 08-10-2017",

year = "2017",

month = nov,

day = "27",

doi = "10.1109/SMC.2017.8123118",

language = "English",

series = "2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017",

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He, F, Bi, L, Lu, Y, Li, H & Wang, L 2017, Model predictive control for a brain-controlled mobile robot. in 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017. 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 3184-3188, 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017, Banff, Canada, 5/10/17. https://doi.org/10.1109/SMC.2017.8123118

Model predictive control for a brain-controlled mobile robot. / He, Fujian; Bi, Luzheng; Lu, Yun et al.
2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3184-3188 (2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Model predictive control for a brain-controlled mobile robot

AU - He, Fujian

AU - Bi, Luzheng

AU - Lu, Yun

AU - Li, Hongqi

AU - Wang, Ling

PY - 2017/11/27

Y1 - 2017/11/27

N2 - 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.

AB - 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.

KW - Brain-computer interfaces

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DO - 10.1109/SMC.2017.8123118

M3 - Conference contribution

AN - SCOPUS:85044279082

T3 - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017

SP - 3184

EP - 3188

BT - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017

Y2 - 5 October 2017 through 8 October 2017

ER -

Model predictive control for a brain-controlled mobile robot

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