TY - GEN
T1 - Vibration suppression for uprising control of two-wheel driven wheelchair
AU - Kawamura, Takuro
AU - Murakami, Toshiyuki
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
KW - Lyapunov-based control
KW - Pitch angle disturbance observer (PADO)
KW - Two-wheel driven wheelchair
KW - Uprising control
KW - Variable gain
UR - http://www.scopus.com/inward/record.url?scp=84856540537&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2011.6119844
DO - 10.1109/IECON.2011.6119844
M3 - Conference contribution
AN - SCOPUS:84856540537
SN - 9781612849720
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 3323
EP - 3328
BT - Proceedings
T2 - 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
Y2 - 7 November 2011 through 10 November 2011
ER -