TY - GEN
T1 - A realization of step passage motion in two-wheel wheelchair systems utilizing variable repulsive compliance control
AU - Hirata, Kazuya
AU - Murakami, Toshiyuki
PY - 2013/8/22
Y1 - 2013/8/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84881650182&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2013.6563714
DO - 10.1109/ISIE.2013.6563714
M3 - Conference contribution
AN - SCOPUS:84881650182
SN - 9781467351942
T3 - IEEE International Symposium on Industrial Electronics
BT - 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
T2 - 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Y2 - 28 May 2013 through 31 May 2013
ER -