Predictive Control of an Orthosis Based on the Laguerre Model and the Hildreth Algorithm

This article introduces a predictive controller applied to a robotic therapy device. The research focuses on developing a Model-based Predictive Controller (MPC) while incorporating Laguerre functions and Hildreth's quadratic algorithm. Laguerre functions are proposed to facilitate and improve the influence of the control horizon by creating a more concise control trajectory, which in turn reduces the computational resources needed for finding the optimal control solution. Additionally, these findings are validated through simulations conducted on robotic devices and compared with traditional MPC methods.