Adaptive intelligent assistance control of electrical wheelchairs by grey-fuzzy decision-making algorithm

Luo, Ren C.; Chen, Tse Min; Hu, Chi-Yang; Hsiao, Zu Hung

doi:10.1109/robot.1999.770403

“…Electric power wheelchairs actuated by two independent motors have been widely used to study tracking controllers and various navigation tasks [35,36,12]. Since the proposed tracking approach takes into account the positional difference between the rotation and the gravity centers, we selected a rear driven powered wheelchair (as illustrated in the Figure 6.…”

Section: Experiments Setupmentioning

confidence: 99%

“…To overcome this condition, several approaches have been pro-posed in the literature. These approaches fall into three main categories, namely kinematic control laws based upon the well-known perfect velocity tracking model [7,8], kinematic-dynamic control laws [9,10] and adaptive dynamic control laws [5,[11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…The third category is related to the robust and adaptive dynamic design approaches. Their main objective is to overcome the weakness of the previous approaches by taking into account the unavoidable disturbances caused by the navigation environment [12,21]. Most recent publications on the reference trajectory tracking with nonholonomic platforms use adaptive dynamic approaches.…”

Section: Introductionmentioning

confidence: 99%

“…Indeed, it was mentioned in [10] that the difference between wheel radius is one the most common modeling error. In [12,30], it was shown that in practice, ensuring that two different actuators behave identically, even when working under similar operating conditions, is far from trivial. Some authors considered such mismodeling as model uncertainty and, therefore, rely on the adaptive control laws to reduce their impact on the platform trajectory tracking process [13,5].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Stable and Adaptive Control for Wheeled Mobile Platform

Kélouwani¹,

Ouellette²,

Cohen³

2013

ICA

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Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity center and the rotation center often do not coincide. This position difference, combined with the effect of unbalanced actuator dynamics on the motion, makes it difficult to properly control the platform. We propose an adaptive nonlinear controller system based on the Lyapunov stability theory that greatly improves the trajectory tracking performance of such platforms. The asymptotically stable kinematic controller takes into account the position difference and the effect of the unbalanced actuator dynamics. The dynamic controller has the desirable property that it requires minimal knowledge of the platform physical parameters. Validation was performed through simulation and several experiments conducted on a rear driven powered wheelchair. Comparative experimental studies suggested that the proposed adaptive control system performs better than a similar method presented in the literature for linear as well as curvilinear trajectory tracking. Furthermore, the control system exhibits good tracking performance on inclined plans and non smooth surfaces.

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“…To overcome this condition, several approaches have been pro-posed in the literature. These approaches fall into three main categories, namely kinematic control laws based upon the well-known perfect velocity tracking model [7,8], kinematic-dynamic control laws [9,10] and adaptive dynamic control laws [5,[11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Stable and Adaptive Control for Wheeled Mobile Platform

Kélouwani¹,

Ouellette²,

Cohen³

2013

ICA

11

0

View full text Add to dashboard Cite

Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity center and the rotation center often do not coincide. This position difference, combined with the effect of unbalanced actuator dynamics on the motion, makes it difficult to properly control the platform. We propose an adaptive nonlinear controller system based on the Lyapunov stability theory that greatly improves the trajectory tracking performance of such platforms. The asymptotically stable kinematic controller takes into account the position difference and the effect of the unbalanced actuator dynamics. The dynamic controller has the desirable property that it requires minimal knowledge of the platform physical parameters. Validation was performed through simulation and several experiments conducted on a rear driven powered wheelchair. Comparative experimental studies suggested that the proposed adaptive control system performs better than a similar method presented in the literature for linear as well as curvilinear trajectory tracking. Furthermore, the control system exhibits good tracking performance on inclined plans and non smooth surfaces.

show abstract