Force sensorless power-assist control of yaw motion direction for two wheels driven wheelchair

Tatsuya Kuramatsu, Toshiyuki Murakami

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

7 Citations (Scopus)

Abstract

Two wheels driven wheelchair doesn't have any front casters hence it is superior to normal wheelchair in terms of mobility. However, it cannot keep the stable attitude without control. Also, it is necessary to realize power assist control of yaw direction motion in order to obtain operability equal to normal wheelchair. In this paper, pitch angle disturbance observer (PADO) is utilized to realize robust stabilization. PADO can estimate disturbance of pitch angle. Estimated disturbance is compensated in Lyapunov-based controller which stabilizes the pitch angle. To realize power-assist control of yaw direction, reaction torque observer (RTOB) is applied to yaw direction. The validity of proposed method is verified by experiment.

Original languageEnglish
Title of host publication2010 World Automation Congress, WAC 2010
Publication statusPublished - 2010 Dec 1
Event2010 World Automation Congress, WAC 2010 - Kobe, Japan
Duration: 2010 Sep 192010 Sep 23

Publication series

Name2010 World Automation Congress, WAC 2010

Other

Other2010 World Automation Congress, WAC 2010
CountryJapan
CityKobe
Period10/9/1910/9/23

Keywords

  • Lyapunov-based control
  • Pitch angle disturbance observer (PADO)
  • Power-assist control
  • Reaction torque observer (RTOB)
  • Two wheels driven wheelchair

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kuramatsu, T., & Murakami, T. (2010). Force sensorless power-assist control of yaw motion direction for two wheels driven wheelchair. In 2010 World Automation Congress, WAC 2010 [5665645] (2010 World Automation Congress, WAC 2010).