Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair

Morales, Rafael; Feliú, V.; González, Adrián Martínez

doi:10.1016/j.robot.2009.07.020

Cited by 35 publications

(17 citation statements)

References 24 publications

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“…Finally, this methodology is well suited to confronting important problems of control systems. Its versatility and ease of implementation make the controller suitable to be robustly applied in a wide range of real engineering applications such as the buoyancy control of a submerged platform [34], the control of stair-climbing mobility systems [35][36][37][38][39][40][41] or the control of electronic converters [42]. This will be the topic of our future publications.…”

Section: Discussionmentioning

confidence: 99%

Control of a DC motor using algebraic derivative estimation with real time experiments

2014

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This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodol-ogy only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor's initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the deriva-tive estimation process does not require initial conditions or dependence between the sys-tem input and output, and the algorithm is computed online and in real time. The effectiveness of the proposed controller has been verified by means of computer simula-tions and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

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Section: Discussionmentioning

confidence: 99%

Control of a DC motor using algebraic derivative estimation with real time experiments

2014

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“…Future work will be devoted to verifying the effectiveness of the proposed control algorithm through to use on experiments on a real platform (which is currently under construction) and its application to reconfigurable stair-climbing mobility systems. [31][32][33][34][35][36][37] …”

Section: Discussionmentioning

confidence: 99%

Robust output feedback control for the trajectory tracking of robotic wheelchairs

et al. 2014

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This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all uncertain state-dependent (i.e., endogenous) nonlinearities and those of external (i.e., exogenous) perturbation inputs which are present in the input-to-flat output model of the system. An extended linear high-gain observer, or Generalized Proportional Integral (GPI) observer, is then developed for the simultaneous, though approximate, state and disturbance estimation. The proposed feedback controller combines the global ultra-model and the GPI observers to conform an active disturbance rejection, or disturbance accommodation, control scheme. The simulation results presented in the paper show that the proposed method has a very good tracking performance and robustness in the presence of system uncertainties, external disturbances and noisy corruptions.

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“…Morales et al [6] designed a hybrid two decoupled equipment mechanisms in each axle, one to negotiate steps and the other to position the axle with regard to the device in order to accommodate the overall slope. Kinematic model was utilized to improve the trajectory planning.…”

Section: Literature Reviewmentioning

confidence: 99%

Optimization of the mechanism from equipment for overcoming obstacles with design of experiments

Gheorghiţă

Gheorghiță

2017

MATEC Web Conf.

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Abstract.A data collection considers how the experimental factors, controlled and uncontrolled, fit together into a model that will meet the specific objectives of an experiment and satisfy the practical constraints of resource and time. Customizing any product to improve performance requires a reliable method to measure performance results, in order to accurately assess the effects that design changes have on them. This paper has the purpose to analyse the equipment for overcoming obstacles. A comprehensive approach to model equipment requires performance data related to the design parameters. Slipping, slanting, becoming unstable, sliding, overturning and blocking while climbing steps and stairs are common problems and may cause instability for the user of the equipment. The Taguchi Method is used to optimize several parameters of the proposed mechanism and to ensure the stability through horizontality of the equipment. This method provides an opportunity to reduce the number of required sample size and is implemented by an orthogonal experimental array which enables the effect of multiple parameters to be simultaneously assessed. Literature reviewThe development of devices that can improve people's quality of life can be a task for engineering researchers. Over the past several years, research of motorized equipment was performed by several scientists who have analysed the types of mechanisms to access obstacles. There are many studies conducted in areas related to climbing equipment. These include crawler type, leg type, hybrid type and wheeled type. Ghani and others [1] investigated an equipment used indoor, evaluating different mechanisms for accessing stairs: track, legs and wheeled combined system, analysing various forces and couples acting. Quaglia [2] analysed aspects of developing equipment for climbing stairs, which can move in structured and unstructured environments that can go over obstacles and can go down or up the stairs. The device consists of a frame, seat and a linkage mechanism. The framework consists of a chassis built with two motorized units, support for two electric motors, two wheels and a battery. The seat has a tubular structure consisting of a frame and

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Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair

Cited by 35 publications

References 24 publications

Control of a DC motor using algebraic derivative estimation with real time experiments

Control of a DC motor using algebraic derivative estimation with real time experiments

Robust output feedback control for the trajectory tracking of robotic wheelchairs

Optimization of the mechanism from equipment for overcoming obstacles with design of experiments

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