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Adaptive nonlinear control of wheelchair with independent active suspension system
Yu Z.1; Wong S.F.2
2017
Conference Name29th Chinese Control And Decision Conference (CCDC)
Source PublicationProceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Pages3741-3746
Conference DateMAY 28-30, 2017
Conference PlaceChongqing, PEOPLES R CHINA
Abstract

The growing number of elder people is a huge problem in Macau, China, especially, the elder people who loss living ability. In medical area, the complicating disease, such as press sore is one of the most dangerous reason to cause disabled people death. Therefore, some relative research projects are still developing. This paper address the problem of driving a smart wheelchair with independent active suspension system to follow a desired path. Based on a practical wheelchair, Krama KM5000.2, the suspension was a nonlinear system. The solution consists of a Lyapunov-based trajectory tracking control law and an active force for correcting vehicle running attitude. When the wheelchair is working, active suspension generates an active force to against vehicle attitude error. In detail, the paper demonstrates how Lyapunov based techniques yield a control structure includes i) active force against vehicle attitude error, i) saturation on position error and iii) nonlinear damping disturbance.

KeywordActive Suspension Backstepping Control Lyapunov Function Nonlinear Control Wheelchair Attitude Error
DOI10.1109/CCDC.2017.7979155
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000427082206058
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Affiliation1.Beijing Normal University
2.Universidade de Macau
Recommended Citation
GB/T 7714
Yu Z.,Wong S.F.. Adaptive nonlinear control of wheelchair with independent active suspension system[C],2017:3741-3746.
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