LPV-FIR Modeling of Wheelchair Dynamics and Its Application to Model Predictive Control

Abstract

This paper constructs a model of wheelchair dynamics in a data-driven manner. In particular, we focus on the forward movement of the wheelchair, for which we adopt a Linear-Parameter-Varying Finite-Impulse-Response (LPV-FIR) model. To avoid the over fitting behavior, we employ the Bayesian estimation method. We also show the identified model is effective for the model predictive control (MPC).