A realization of step passage motion in two-wheel wheelchair systems utilizing variable repulsive compliance control

Kazuya Hirata, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Previously, two-wheel wheelchair systems have been receiving attention since they have high mobility better than conventional four-wheel wheelchair Systems. However, two-wheel wheelchair must achieve stabilization control under disturbance caused by modeling error or road situation since two-wheel wheelchair systems are underactuated systems such as inverted pendulum. In this research, step passage motion in two-wheel wheelchair systems is considered. Synthesized Pitch Angle Disturbance Observer (SPADO) is utilized to compensate pitch angle disturbance and wheel angle disturbance. Reaction Torque Observer (RTOB) is conducted to estimate pure external wheel disturbance. Furthermore, variable repulsive compliance control is conducted to determine the optimal pitch angle command for whole step passage motion.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Hirata, K., & Murakami, T. (2013). A realization of step passage motion in two-wheel wheelchair systems utilizing variable repulsive compliance control. In 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563714] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563714