Model Predictive Control for Human-Centred Lower Limb Robotic Assistance

Generic Model Predictive Control Framework for Advanced Driver Assistance Systems

Anticipatory assistance-as-needed control algorithm for a multijoint upper limb robotic orthosis in physical neurorehabilitation

Robotic devices are becoming a popular alternative to the traditional physical therapy as a mean to enhance functional recovery after stroke; they offer more intensive practice opportunities without increasing time spent on supervision by the treating therapist. An ideal behavior for these systems would consist in emulating real therapists by providing anticipated force feedback to the patients...

Fast Model Predictive Control for Reactive Robotic Swimming

Model Predictive Control amounts to re-solving a trajectory optimization problem at every timestep. Using a fast multi-threaded simulator and an efficient trajectory optimizer, we generate complex, reactive and robust swimming behavior in simulated robots of 12-27 state dimensions, with time-steps in the range of 10-40ms.

Design of a Powered Lower-limb Exoskeleton and Control for Gait Assistance in Paraplegics

iii To my wife, Renee iv ACKNOWLEDGEMENTS I have been priveledged to work and study under engineers of the highest caliber during my five years at Vanderbilt. I am grateful for and amazed by the consistantly insightful vision with which my advisor, Dr. Michael Goldfarb, has directed our lab. His integrity and humility inspire me. My gratitude also extends to Hugo Quintero for his exceptional en...

Improved Optimization Process for Nonlinear Model Predictive Control of PMSM

Model-based predictive control (MPC) is one of the most efficient techniques that is widely used in industrial applications. In such controllers, increasing the prediction horizon results in better selection of the optimal control signal sequence. On the other hand, increasing the prediction horizon increase the computational time of the optimization process which make it impossible to be imple...