کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699190 | 890733 | 2011 | 13 صفحه PDF | دانلود رایگان |

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.
Journal: Control Engineering Practice - Volume 19, Issue 2, February 2011, Pages 113–125