Vibration suppression for uprising control of two-wheel driven wheelchair

Takuro Kawamura, Toshiyuki Murakami

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

The wheelchair is an important vehicle for handicapped and aged people. But traditional wheelchairs have two problems, low mobility and difficultly of going over steps. These problems are caused by their two front casters. To solve these problems, two-wheel driven wheelchair which has no caster was proposed. By the past research, it can keep stable attitude by the stabilization control, and turn by the turning control. However, because riders get on after the wheelchair is stabilized horizontally, it is easy to lose a balance by disturbance when a rider gets on. In this paper, the uprising control of two-wheel driven wheelchair is proposed. Pitch angle disturbance observer (PADO) and Lyapunov-based controller are utilized to realize uprising and stabilization. In order to suppress the vibrations, the variable gain is proposed. By the proposed control method, riders can get on two-wheel driven wheelchair easily.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ページ3323-3328
ページ数6
DOI
出版ステータスPublished - 2011 12 1
イベント37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
継続期間: 2011 11 72011 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
国/地域Australia
CityMelbourne, VIC
Period11/11/711/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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