TY - GEN
T1 - An approach to robust velocity control of two-wheel wheelchair
AU - Amagai, Sho
AU - Murakami, Toshiyuki
PY - 2016/12/21
Y1 - 2016/12/21
N2 - Two-wheel wheelchairs have advantages over conventional four-wheel wheelchairs in terms of mobility and ability of going over steps. However, two-wheel wheelchairs are unstable system, and the body of the wheelchairs must be stabilized. In the conventional method, stabilization control was achieved, but the only stability of the body has been considered and the motion of the wheel has not been controlled. In this paper, a robust wheel-velocity control is proposed in order to improve the stability and the operability of the two-wheel wheelchair. We realize both stabilization of the body and velocity tracking of the wheels using sliding mode control with disturbance observer. The validity of the proposed method is confirmed by some experimental results.
AB - Two-wheel wheelchairs have advantages over conventional four-wheel wheelchairs in terms of mobility and ability of going over steps. However, two-wheel wheelchairs are unstable system, and the body of the wheelchairs must be stabilized. In the conventional method, stabilization control was achieved, but the only stability of the body has been considered and the motion of the wheel has not been controlled. In this paper, a robust wheel-velocity control is proposed in order to improve the stability and the operability of the two-wheel wheelchair. We realize both stabilization of the body and velocity tracking of the wheels using sliding mode control with disturbance observer. The validity of the proposed method is confirmed by some experimental results.
KW - Disturbance observer
KW - Electric wheelchair
KW - Sliding mode control
KW - Stabilization
KW - Underactuated system
KW - Velocity control
UR - http://www.scopus.com/inward/record.url?scp=85010046538&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010046538&partnerID=8YFLogxK
U2 - 10.1109/IECON.2016.7793972
DO - 10.1109/IECON.2016.7793972
M3 - Conference contribution
AN - SCOPUS:85010046538
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 494
EP - 499
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -