کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699190 890733 2011 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive motion control law of a robotic wheelchair
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Adaptive motion control law of a robotic wheelchair
چکیده انگلیسی

In the present work, a dynamic model of a robotic wheelchair is developed considering a lateral deviation of the center of mass. The Lyapunov and input/output stability theories are used to design a novel tracking and positioning adaptive control for the robotic wheelchair. Properties of the dynamic model with respect to its matrices and parameters are shown. A filter is used to obtain a closed loop equation that allows designing the adaptive control law. Then, a projection algorithm is used to improve the adaptive control in the sense of avoiding parameter drift. Experimental results show good performance of the adaptive control.

Research Highlights
► Dynamic modelling of a robotic wheelchair considering a lateral deviation of the center of mass.
► Tracking and positioning adaptive control for the robotic wheelchair.
► Experimental validation of the adaptive controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 19, Issue 2, February 2011, Pages 113–125
نویسندگان
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