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

Tatsuya Kuramatsu, Toshiyuki Murakami

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 World Automation Congress, WAC 2010
出版ステータスPublished - 2010 12月 1
イベント2010 World Automation Congress, WAC 2010 - Kobe, Japan
継続期間: 2010 9月 192010 9月 23

出版物シリーズ

名前2010 World Automation Congress, WAC 2010

Other

Other2010 World Automation Congress, WAC 2010
国/地域Japan
CityKobe
Period10/9/1910/9/23

ASJC Scopus subject areas

  • 制御およびシステム工学

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