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

Tatsuya Kuramatsu; Toshiyuki Murakami

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

Tatsuya Kuramatsu, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 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 language	English
Title of host publication	2010 World Automation Congress, WAC 2010
Publication status	Published - 2010 Dec 1
Event	2010 World Automation Congress, WAC 2010 - Kobe, Japan Duration: 2010 Sept 19 → 2010 Sept 23

Publication series

Name	2010 World Automation Congress, WAC 2010

Other

Other	2010 World Automation Congress, WAC 2010
Country/Territory	Japan
City	Kobe
Period	10/9/19 → 10/9/23

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

Cite this

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title = "Force sensorless power-assist control of yaw motion direction for two wheels driven wheelchair",

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.",

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

author = "Tatsuya Kuramatsu and Toshiyuki Murakami",

year = "2010",

month = dec,

day = "1",

language = "English",

isbn = "9781424496730",

series = "2010 World Automation Congress, WAC 2010",

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note = "2010 World Automation Congress, WAC 2010 ; Conference date: 19-09-2010 Through 23-09-2010",

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T1 - Force sensorless power-assist control of yaw motion direction for two wheels driven wheelchair

AU - Kuramatsu, Tatsuya

AU - Murakami, Toshiyuki

PY - 2010/12/1

Y1 - 2010/12/1

N2 - 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.

AB - 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.

KW - Lyapunov-based control

KW - Pitch angle disturbance observer (PADO)

KW - Power-assist control

KW - Reaction torque observer (RTOB)

KW - Two wheels driven wheelchair

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M3 - Conference contribution

AN - SCOPUS:78651436454

SN - 9781424496730

T3 - 2010 World Automation Congress, WAC 2010

BT - 2010 World Automation Congress, WAC 2010

T2 - 2010 World Automation Congress, WAC 2010

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ER -

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

Abstract

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Keywords

ASJC Scopus subject areas

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