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

Aiko Dinale, Kazuya Hirata, Toshiyuki Murakami

Research output: Contribution to conferencePaper

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
DOIs
Publication statusPublished - 2013 Jan 1
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

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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. Paper presented at 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay. https://doi.org/10.1109/ICAR.2013.6766472