Brain-Controlled Multi-Robot at Servo-Control Level Based on Nonlinear Model Predictive Control

作     者：Zhenge Yang Luzheng Bi Weiming Chi Haonan Shi Cuntai Guan 

作者机构：the School of Mechanical EngineeringBeijing Institute of TechnologyBeijing 100081China. the School of Computer Science and EngineeringNanyang Technological UniversitySingapore 639673Singapore 

出 版 物：《Complex System Modeling and Simulation》 (复杂系统建模与仿真（英文）)

年 卷 期：2022年第2卷第4期

页      面：307-321页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the National Natural Science Foundation of China(No.51975052) 

主　　题：brain-computer interface human-machine collaboration model predictive control multi-robot system 

摘      要：Using a brain-computer interface(BCI)rather than limbs to control multiple robots(i.e.,brain-controlled multi-robots)can better assist people with disabilities in daily life than a brain-controlled single *** example,one person with disabilities can move by a brain-controlled wheelchair(leader robot)and simultaneously transport objects by follower *** this paper,we explore how to control the direction,speed,and formation of a brain-controlled multi-robot system(consisting of leader and follower robots)for the first time and propose a novel multi-robot predictive control framework(MRPCF)that can track users control intents and ensure the safety of multiple *** MRPCF consists of the leader controller,follower controller,and formation *** build a whole brain-controlled multi-robot physical system for the first time and test the proposed system through human-in-the-loop actual *** experimental results indicate that the proposed system can track users direction,speed,and formation control intents when guaranteeing multiple robots’*** paper can promote the study of brain-controlled robots and multi-robot systems and provide some novel views into human-machine collaboration and integration.