Dynamic model-based adaptive posture controller for robotic wheelchairs

Celso De La Cruz; Wanderley Cardoso Celeste; Teodiano Freire Bastos

doi:10.5405/jmbe.761

Dynamic model-based adaptive posture controller for robotic wheelchairs

Celso De La Cruz, Wanderley Cardoso Celeste, Teodiano Freire Bastos

Universidade Federal do Espirito Santo

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.

Original language	English
Pages (from-to)	61-69
Number of pages	9
Journal	Journal of Medical and Biological Engineering
Volume	32
Issue number	1
DOIs	https://doi.org/10.5405/jmbe.761
State	Published - 2012
Externally published	Yes

Keywords

Adaptive control
Dynamic model
Posture control
Robotic wheelchair

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10.5405/jmbe.761

Cite this

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title = "Dynamic model-based adaptive posture controller for robotic wheelchairs",

abstract = "A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.",

keywords = "Adaptive control, Dynamic model, Posture control, Robotic wheelchair",

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year = "2012",

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AU - Celeste, Wanderley Cardoso

AU - Bastos, Teodiano Freire

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AB - A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.

KW - Adaptive control

KW - Dynamic model

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KW - Robotic wheelchair

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Dynamic model-based adaptive posture controller for robotic wheelchairs

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Keywords

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