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

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	61-69
Número de páginas	9
Publicación	Journal of Medical and Biological Engineering
Volumen	32
N.º	1
DOI	https://doi.org/10.5405/jmbe.761
Estado	Publicada - 2012
Publicado de forma externa	Sí

Acceder al documento

10.5405/jmbe.761

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

@article{bf15ae165d584f7eaaf0b4233dca8e7c,

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",

author = "{De La Cruz}, Celso and Celeste, {Wanderley Cardoso} and Bastos, {Teodiano Freire}",

year = "2012",

doi = "10.5405/jmbe.761",

language = "English",

volume = "32",

pages = "61--69",

journal = "Journal of Medical and Biological Engineering",

issn = "1609-0985",

number = "1",

}

TY - JOUR

T1 - Dynamic model-based adaptive posture controller for robotic wheelchairs

AU - De La Cruz, Celso

AU - Celeste, Wanderley Cardoso

AU - Bastos, Teodiano Freire

PY - 2012

Y1 - 2012

N2 - 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.

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

KW - Posture control

KW - Robotic wheelchair

UR - http://www.scopus.com/inward/record.url?scp=84859339156&partnerID=8YFLogxK

U2 - 10.5405/jmbe.761

DO - 10.5405/jmbe.761

M3 - Article

AN - SCOPUS:84859339156

SN - 1609-0985

VL - 32

SP - 61

EP - 69

JO - Journal of Medical and Biological Engineering

JF - Journal of Medical and Biological Engineering

IS - 1

ER -

Dynamic model-based adaptive posture controller for robotic wheelchairs

Resumen

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto