Traveling assist control of two-wheel wheelchair in unknown step passage

Nobuaki Hirata, Sakurako Hamatani, Toshiyuki Murakami

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

3 Citations (Scopus)

Abstract

A two-wheel wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheel wheelchair has improved former problems of a conventional four-wheel wheelchair, such as step passing capability. However, two-wheel wheelchair still requires high torque for step passage. To generate high torque command of wheel, large posture movement of passenger is required, and this leads to an operational difficulty. In this paper, traveling assist control of two-wheel wheelchair in step passage is proposed. In this proposal, virtual disturbance of pitch angle is generated according to reaction torque response of wheels. Then virtual disturbance is introduced to a Synthesized Pitch Angle Disturbance Observer(SPADO). With virtual disturbance, SPADO will generates higher torque command of wheel and allow passenger to generate high torque command of wheel with small posture movement. Validity of proposal is tested through experiment.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE 25th International Symposium on Industrial Electronics, ISIE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1270-1275
Number of pages6
Volume2016-November
ISBN (Electronic)9781509008735
DOIs
Publication statusPublished - 2016 Nov 15
Event25th IEEE International Symposium on Industrial Electronics, ISIE 2016 - Santa Clara, United States
Duration: 2016 Jun 82016 Jun 10

Other

Other25th IEEE International Symposium on Industrial Electronics, ISIE 2016
CountryUnited States
CitySanta Clara
Period16/6/816/6/10

Keywords

  • Mobile robots
  • Observers
  • Sensorless control
  • Stabilized control
  • Two-wheel wheelchair

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Hirata, N., Hamatani, S., & Murakami, T. (2016). Traveling assist control of two-wheel wheelchair in unknown step passage. In Proceedings - 2016 IEEE 25th International Symposium on Industrial Electronics, ISIE 2016 (Vol. 2016-November, pp. 1270-1275). [7745077] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2016.7745077