Name
Abstract | ||
|---|---|---|
This work presents an adaptive dynamic control to solve the path following problem for the human-wheelchair system, allowing people with lower and upper extremity impairments to move a wheelchair through brain signals. The desired velocity of the wheelchair is considered as a function of the disregard of the person to move the robotic wheelchair. Additionally, the kinematic and dynamic modeling of a human-wheelchair system where it is considered that its mass center is not located at the wheels' axis center of the wheelchair. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and an adaptive dynamic controller that compensates the dynamics of the human-wheelchair system. Stability and robustness are proved by using Lyapunov's method. Experimental results show a good performance of the proposed controller as proved by the theoretical design. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/978-3-319-43518-3_22 | ICIRA |
Keywords | Field | DocType |
Wheelchair, Dynamic modeling, Cascade control, Lyapunov's method | Wheelchair,Lyapunov function,Control theory,Kinematics,Control theory,Robustness (computer science),Control engineering,Mass center,System dynamics,Adaptive control,Engineering | Conference |
Volume | ISSN | Citations |
9835 | 0302-9743 | 2 |
PageRank | References | Authors |
0.44 | 4 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| victor h andaluz | 1 | 28 | 27.06 |
| jessica s ortiz | 2 | 16 | 7.68 |
| Fernando A. Chicaiza | 3 | 12 | 4.46 |
| José Varela | 4 | 18 | 3.90 |
| Edison G. Espinosa | 5 | 4 | 1.54 |
| Paúl Canseco | 6 | 10 | 2.05 |