Analytical design of a robust motion controller for a two-wheeled wheelchair system

Aiko Dinale, Kazuya Hirata, Toshiyuki Murakami

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

2 Citations (Scopus)

Abstract

In this paper a two-wheeled wheelchair system is presented. The proposed wheelchair moves accordingly to the motion of the user's center of gravity, resulting in an unstable system along the pitch direction. A motion controller based on the synthesized pitch angle disturbance observer (SPADO) is introduced to keep the system in equilibrium. The performance of the entire system is strongly affected by the inertia parameters variation, which must be taken into account in order to design a robust controller. Finally experimental results will be presented in order to prove the theoretical results.

Original languageEnglish
Title of host publication2013 16th International Conference on Advanced Robotics, ICAR 2013
PublisherIEEE Computer Society
DOIs
Publication statusPublished - 2013
Event2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay
Duration: 2013 Nov 252013 Nov 29

Other

Other2013 16th International Conference on Advanced Robotics, ICAR 2013
CountryUruguay
CityMontevideo
Period13/11/2513/11/29

Fingerprint

Wheelchairs
Controllers
Gravitation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

Cite this

Dinale, A., Hirata, K., & Murakami, T. (2013). Analytical design of a robust motion controller for a two-wheeled wheelchair system. In 2013 16th International Conference on Advanced Robotics, ICAR 2013 [6766472] IEEE Computer Society. https://doi.org/10.1109/ICAR.2013.6766472

Analytical design of a robust motion controller for a two-wheeled wheelchair system. / Dinale, Aiko; Hirata, Kazuya; Murakami, Toshiyuki.

2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society, 2013. 6766472.

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

Dinale, A, Hirata, K & Murakami, T 2013, Analytical design of a robust motion controller for a two-wheeled wheelchair system. in 2013 16th International Conference on Advanced Robotics, ICAR 2013., 6766472, IEEE Computer Society, 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay, 13/11/25. https://doi.org/10.1109/ICAR.2013.6766472
Dinale A, Hirata K, Murakami T. Analytical design of a robust motion controller for a two-wheeled wheelchair system. In 2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society. 2013. 6766472 https://doi.org/10.1109/ICAR.2013.6766472
Dinale, Aiko ; Hirata, Kazuya ; Murakami, Toshiyuki. / Analytical design of a robust motion controller for a two-wheeled wheelchair system. 2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society, 2013.
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