A realization of step passage motion in two-wheel wheelchair systems utilizing variable repulsive compliance control

Kazuya Hirata, Toshiyuki Murakami

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Previously, two-wheel wheelchair systems have been receiving attention since they have high mobility better than conventional four-wheel wheelchair Systems. However, two-wheel wheelchair must achieve stabilization control under disturbance caused by modeling error or road situation since two-wheel wheelchair systems are underactuated systems such as inverted pendulum. In this research, step passage motion in two-wheel wheelchair systems is considered. Synthesized Pitch Angle Disturbance Observer (SPADO) is utilized to compensate pitch angle disturbance and wheel angle disturbance. Reaction Torque Observer (RTOB) is conducted to estimate pure external wheel disturbance. Furthermore, variable repulsive compliance control is conducted to determine the optimal pitch angle command for whole step passage motion.

本文言語English
ホスト出版物のタイトル2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOI
出版ステータスPublished - 2013 8月 22
イベント2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
継続期間: 2013 5月 282013 5月 31

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
国/地域Taiwan, Province of China
CityTaipei
Period13/5/2813/5/31

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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