Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

Wang, Jian; Wang, Ting; Yao, Chen; Li, Xiaofan; Wu, Chengdong

doi:10.1007/s11432-014-5142-4

Cited by 4 publications

(4 citation statements)

References 6 publications

(7 reference statements)

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“…For the track-based EPW-SC, the Proportion Integration Derivation (PID) control algorithm is sufficient for controlling the speed of its driven wheels and rotation angle of the seat, as applied in the TopChair-S. 3 In addition, an active optimal control for track-based EPW-SCs with non-holonomic system was designed by Wang et al to obtain the expected reference of constraint forces and verification through the simulation. 55 In addition, a few researchers have considered stair recognition technology and gravity center adjustment methods, which are beneficial to the EPW-SC's stability in stair-climbing. For example, Häcker et al developed a stair-sensing system for EPW-SCs based on optical threedimensional (3-D) data.…”

Section: Track-based Epw-scmentioning

confidence: 99%

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted great attention in the past two decades and some various electric-powered wheelchairs with stair-climbing were developed. By using the developed electric-powered wheelchairs with stair-climbing, many patients with walking difficulties are able to descend the stairs conveniently to participate in outdoor activities, which are beneficial to both their physical rehabilitation and mental health. In this article, a review of electric-powered wheelchair with stair-climbing current technology is given and its future tendency is discussed to inform electric-powered wheelchair with stair-climbing researchers in the development of more applicable and popular products. Firstly, the development history is reviewed and electric-powered wheelchairs with stair-climbing are classified based on an analysis of their stair-climbing mechanisms. The respective advantages and disadvantages of different types of electric-powered wheelchairs with stair-climbing are outlined for an overall comparison of the control method, cost of mechanical manufacture, energy consumption, and adaption to different stairs. Insights into the future direction of stability during stair-climbing are discussed as it is an important aspect common to all electric-powered wheelchairs with stairclimbing. Finally, a summary of electric-powered wheelchairs with stair-climbing discussed in this article is provided. As a special review to the electric-powered wheelchairs with stair-climbing, it can provide a comprehensive understanding of the current technology about electric-powered wheelchairs with stair-climbing and serve as a reference for the development of new electric-powered wheelchairs with stair-climbing.

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Section: Track-based Epw-scmentioning

confidence: 99%

Electric-powered wheelchair with stair-climbing ability

Tao

Liu

2017

International Journal of Advanced Robotic Systems

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“…We know that if we obtain the optimal Q function Q * (x k , u k ), then the optimal control law u * (x k ) and the optimal performance index function J * (x k ) can be obtained. However, the optimal Q function Q * (x k , u k ) is generally an unknown and non-analytic function, which cannot be obtained directly by (3). Hence, a new policy iteration based Q-learning algorithm is developed to solve the Q function iteratively.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Optimal control of nonlinear systems has been the focus of control fields for many decades [1][2][3][4][5][6]. Dynamic programming is a useful technique in handling optimal control problems, though it is often computationally untenable to perform it to obtain the optimal solutions.…”

Section: Introductionmentioning

confidence: 99%

A novel policy iteration based deterministic Q-learning for discrete-time nonlinear systems

Wei

Liu

2015

Sci. China Inf. Sci.

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In this paper, a novel iterative Q-learning algorithm, called "policy iteration based deterministic Qlearning algorithm", is developed to solve the optimal control problems for discrete-time deterministic nonlinear systems. The idea is to use an iterative adaptive dynamic programming (ADP) technique to construct the iterative control law which optimizes the iterative Q function. When the optimal Q function is obtained, the optimal control law can be achieved by directly minimizing the optimal Q function, where the mathematical model of the system is not necessary. Convergence property is analyzed to show that the iterative Q function is monotonically non-increasing and converges to the solution of the optimality equation. It is also proven that any of the iterative control laws is a stable control law. Neural networks are employed to implement the policy iteration based deterministic Q-learning algorithm, by approximating the iterative Q function and the iterative control law, respectively. Finally, two simulation examples are presented to illustrate the performance of the developed algorithm.

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“…When operating the electric wheelchair with the manual interfaces, it is easy to reach the target position in a wide space. However, as a non-holonomic system, electric wheelchairs cannot move laterally, that means even the fine adjustment of position needs to repeatedly tilt the joystick by a small amount [25].…”

Section: Introductionmentioning

confidence: 99%

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Yang

Guo

Sakamoto

et al. 2022

Journal of Robotics and Control

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Electric wheelchair-mounted robotic arms can help patients with disabilities to perform their activities in daily living (ADL). Joysticks or keypads are commonly used as the operating interface of Wheelchair-mounted robotic arms. Under different scenarios, some patients with upper limb disabilities such as finger contracture cannot operate such interfaces smoothly. Recently, manual interfaces for different symptoms to operate the wheelchair-mounted robotic arms are being developed. However, the stop the wheelchairs in an appropriate position for the robotic arm grasping task is still not easy. To reduce the individual’s burden in operating wheelchair in narrow spaces and to ensure that the chair always stops within the working range of a robotic arm, we propose here an operating system for an electric wheelchair that can automatically drive itself to within the working range of a robotic arm by capturing the position of an AR marker via a chair-mounted camera. Meanwhile, the system includes an error correction model to correct the wheelchair’s moving error. Finally, we demonstrate the effectiveness of the proposed system by running the wheelchair and simulating the robotic arm through several courses.

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Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

Cited by 4 publications

References 6 publications

Electric-powered wheelchair with stair-climbing ability

Electric-powered wheelchair with stair-climbing ability

A novel policy iteration based deterministic Q-learning for discrete-time nonlinear systems

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

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