Robust Control with Dynamic Compensation for Human-Wheelchair System

Autores
Andaluz, Victor; Canseco, Paúl; Varela, José; Ortiz, Jessica S.; Pérez, María G.; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work presents the kinematic and dynamic modeling of a human-wheelchair system, and dynamic control to solve the path following problem. First it is proposed a dynamic modeling of the human-wheelchair system where it is considered that its mass center is not located at the center the wheels’ axle of the wheelchair. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.
Fil: Andaluz, Victor. Universidad Técnica de Ambato; Ecuador
Fil: Canseco, Paúl. Universidad Técnica de Ambato; Ecuador
Fil: Varela, José. Universidad Técnica de Ambato; Ecuador
Fil: Ortiz, Jessica S.. Universidad Técnica de Ambato; Ecuador
Fil: Pérez, María G.. Universidad Técnica de Ambato; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Human-Wheelchair System
Dynamic Control
Dynamic Modeling
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/4959
Acceder
id CONICETDig_3f5478d6f57080f1a94b410805bd2768
oai_identifier_str oai:ri.conicet.gov.ar:11336/4959
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Robust Control with Dynamic Compensation for Human-Wheelchair SystemAndaluz, VictorCanseco, PaúlVarela, JoséOrtiz, Jessica S.Pérez, María G.Roberti, FlavioCarelli Albarracin, Ricardo OscarHuman-Wheelchair SystemDynamic ControlDynamic Modelinghttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work presents the kinematic and dynamic modeling of a human-wheelchair system, and dynamic control to solve the path following problem. First it is proposed a dynamic modeling of the human-wheelchair system where it is considered that its mass center is not located at the center the wheels’ axle of the wheelchair. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.Fil: Andaluz, Victor. Universidad Técnica de Ambato; EcuadorFil: Canseco, Paúl. Universidad Técnica de Ambato; EcuadorFil: Varela, José. Universidad Técnica de Ambato; EcuadorFil: Ortiz, Jessica S.. Universidad Técnica de Ambato; EcuadorFil: Pérez, María G.. Universidad Técnica de Ambato; EcuadorFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaSpringer2014-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/4959Andaluz, Victor; Canseco, Paúl; Varela, José; Ortiz, Jessica S.; Pérez, María G.; et al.; Robust Control with Dynamic Compensation for Human-Wheelchair System; Springer; Lecture Notes In Computer Science; 8917; 12-2014; 376-3890302-9743enginfo:eu-repo/semantics/altIdentifier/url/http://link.springer.com/chapter/10.1007%2F978-3-319-13966-1_37info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/doi/10.1007/978-3-319-13966-1_37info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:44:42Zoai:ri.conicet.gov.ar:11336/4959instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:44:42.666CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Robust Control with Dynamic Compensation for Human-Wheelchair System
title Robust Control with Dynamic Compensation for Human-Wheelchair System
spellingShingle Robust Control with Dynamic Compensation for Human-Wheelchair System
Andaluz, Victor
Human-Wheelchair System
Dynamic Control
Dynamic Modeling
title_short Robust Control with Dynamic Compensation for Human-Wheelchair System
title_full Robust Control with Dynamic Compensation for Human-Wheelchair System
title_fullStr Robust Control with Dynamic Compensation for Human-Wheelchair System
title_full_unstemmed Robust Control with Dynamic Compensation for Human-Wheelchair System
title_sort Robust Control with Dynamic Compensation for Human-Wheelchair System
dc.creator.none.fl_str_mv Andaluz, Victor
Canseco, Paúl
Varela, José
Ortiz, Jessica S.
Pérez, María G.
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author Andaluz, Victor
author_facet Andaluz, Victor
Canseco, Paúl
Varela, José
Ortiz, Jessica S.
Pérez, María G.
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Canseco, Paúl
Varela, José
Ortiz, Jessica S.
Pérez, María G.
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv Human-Wheelchair System
Dynamic Control
Dynamic Modeling
topic Human-Wheelchair System
Dynamic Control
Dynamic Modeling
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work presents the kinematic and dynamic modeling of a human-wheelchair system, and dynamic control to solve the path following problem. First it is proposed a dynamic modeling of the human-wheelchair system where it is considered that its mass center is not located at the center the wheels’ axle of the wheelchair. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.
Fil: Andaluz, Victor. Universidad Técnica de Ambato; Ecuador
Fil: Canseco, Paúl. Universidad Técnica de Ambato; Ecuador
Fil: Varela, José. Universidad Técnica de Ambato; Ecuador
Fil: Ortiz, Jessica S.. Universidad Técnica de Ambato; Ecuador
Fil: Pérez, María G.. Universidad Técnica de Ambato; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description This work presents the kinematic and dynamic modeling of a human-wheelchair system, and dynamic control to solve the path following problem. First it is proposed a dynamic modeling of the human-wheelchair system where it is considered that its mass center is not located at the center the wheels’ axle of the wheelchair. Then, the design of the control algorithm is presented. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and a dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.
publishDate 2014
dc.date.none.fl_str_mv 2014-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/4959
Andaluz, Victor; Canseco, Paúl; Varela, José; Ortiz, Jessica S.; Pérez, María G.; et al.; Robust Control with Dynamic Compensation for Human-Wheelchair System; Springer; Lecture Notes In Computer Science; 8917; 12-2014; 376-389
0302-9743
url http://hdl.handle.net/11336/4959
identifier_str_mv Andaluz, Victor; Canseco, Paúl; Varela, José; Ortiz, Jessica S.; Pérez, María G.; et al.; Robust Control with Dynamic Compensation for Human-Wheelchair System; Springer; Lecture Notes In Computer Science; 8917; 12-2014; 376-389
0302-9743
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/chapter/10.1007%2F978-3-319-13966-1_37
info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/doi/10.1007/978-3-319-13966-1_37
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844613406926045184
score 13.070432

Publicaciones similares