Hao-Min Sun

Smoothly Weighted Hybrid NMPC–LQR Control for Slope-Dependent Uphill Motion of a Two-Wheeled Self-Balancing Wheelchair

Sustained uphill motion of two-wheeled self-balancing wheelchairs is challenging. Slope-induced gravity changes the equilibrium condition, driving-torque demand, and velocity response. This paper proposes a smoothly weighted hybrid control method. The method combines nonlinear model predictive control and a linear quad...