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R. Fierro and F. L. Lewis, “Control of a Nonholonomic Mobile Robot: Backstepping Kinematics into Dynamics,” Journal of Robotic Systems, Vol. 14, No. 3, 1997, pp. 149-163. doi:10.1002/(SICI)1097-4563(199703)14:3<149::AID-ROB1>3.0.CO;2-R

has been cited by the following article:

• TITLE: Robust MPC Method for BMI Based Wheelchair

  AUTHORS: Tohru Kawabe

  KEYWORDS: Wheelchair, Brain Machine Interface, Model Predictive Control, Adaptive DA Converter, Minimax Optimization

  JOURNAL NAME: Intelligent Control and Automation, Vol.2 No.4, October 31, 2011

  ABSTRACT: In this paper, robust MPC (Model Predictive Control) with adaptive DA converter method for the wheelchair using EEG (Electroencephalogram) based BMI (Brain Machine Interface) is discussed. The method is developed to apply to the obstacle avoidance system of wheelchair. This paper is the 1st stage for the development of the BMI based wheelchair in practical use. The robust MPC method is realized by using the minimax optimization with bounded constraint conditions. Some numerical examples are also included to demonstrate the effectiveness of the proposed methodas the former stage of the real experiments.