Advanced motion control of two-wheel wheelchair for slope environment

Kazuya Hirata, Miyuki Kamatani, Toshiyuki Murakami

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

Recently, two-wheel wheelchair gains a lot of attention since it has high mobility better than conventional four-wheel wheelchair. Two-wheel wheelchair consists of two actuated wheels and it is similar with wheel inverted pendulum. Therefore, stabilization control is utilized to sustain the human posture with safety. In this research, the motion of two-wheel wheelchair on the slope is considered. Repulsive compliance control with Reaction Torque Observer (RTOB) is conducted in order to determine the optimal pitch angle command for going up and down the slope. Furthermore, parameter determination of repulsive compliance control is analyzed and appropriate parameter for the motion on the slope can be determined. Simulation and experimental results show the validity of proposed command generation.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ6436-6441
ページ数6
DOI
出版ステータスPublished - 2013
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

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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