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

Aiko Dinale, Kazuya Hirata, Toshiyuki Murakami

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
DOI
出版ステータスPublished - 2013 1月 1
イベント2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay
継続期間: 2013 11月 252013 11月 29

Other

Other2013 16th International Conference on Advanced Robotics, ICAR 2013
国/地域Uruguay
CityMontevideo
Period13/11/2513/11/29

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • ソフトウェア

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