Adaptive motion control law of a robotic wheelchair

Celso De La Cruz, Teodiano Freire Bastos, Ricardo Carelli

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

32 Citas (Scopus)

Resumen

In the present work, a dynamic model of a robotic wheelchair is developed considering a lateral deviation of the center of mass. The Lyapunov and input/output stability theories are used to design a novel tracking and positioning adaptive control for the robotic wheelchair. Properties of the dynamic model with respect to its matrices and parameters are shown. A filter is used to obtain a closed loop equation that allows designing the adaptive control law. Then, a projection algorithm is used to improve the adaptive control in the sense of avoiding parameter drift. Experimental results show good performance of the adaptive control.

Idioma originalInglés
Páginas (desde-hasta)113-125
Número de páginas13
PublicaciónControl Engineering Practice
Volumen19
N.º2
DOI
EstadoPublicada - feb. 2011
Publicado de forma externa

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