5th International Conference on Intelligent Systems Design and Applications (ISDA'05) Modern Control Approach for Robotic Wheelchair with Inverse Pendulum Control Wroclaw, Poland September 08-September 10 ISBN: 0-7695-2286-6
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ISDA.2005.67
We are proposing a robotic wheelchair that enables a wheelchair bound person to climb over steps up to about 8cm in height without assistance from others. By using the proposed robotic wheelchair, a user can maintain inverse pendulum control after raising its front wheels. Then, a user can move forward to the step maintaining the inverse pendulum control, and can climb over the step using motor force of a rear wheel shaft. This paper described the control system designs and simulations of the inverse pendulum control. An observer based optimal control (LQG or H2) with an integral action is discussed in order to obtain better control performances for the inverse pendulum control.
Index Terms:
Wheelchair, robot, step climbing, inverse pendulum control, observer based optimal control, integral action
Citation:
Yoshihiko Takahashi, Otsushiro Tsubouchi, "Modern Control Approach for Robotic Wheelchair with Inverse Pendulum Control," isda, pp.364-369, 5th International Conference on Intelligent Systems Design and Applications (ISDA'05), 2005 Usage of this product signifies your acceptance of the Terms of Use. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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