Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bastos-Filho, T., et al.: Towards a New Modality-Independent Interface for a Robotic Wheelchair. IEEE Transactions on Neural Systems and Rehabilitation Engineering 22(3) (2014)
Wang, Y., Chen, W.: Hybrid Map-based Navigation for Intelligent Wheelchair. In: IEEE International Conference on Robotics and Automation, China, pp. 637–642 (2011)
Cheng, W.-C., Chiang, C.-C.: The Development of the Automatic Lane Following Navigation System for the Intelligent Robotic Wheelchair. In: IEEE International Conference on Fuzzy Systems, Taiwan, pp. 1946–1952 (2011)
Abeygunawardhana, P.K.W., Toshiyuki, M.: Self Sustaining Wheelchair Robot on a Curved Trajectory. In: IEEE/ ICIT International Conference on Industrial Technology, pp. 1636–1641 (2006)
Biswas, K., Mazumder, O., Kundu, A.S.: Multichannel Fused EMG based Biofeedback System with Virtual reality for Gait Rehabilitation. In: IEEE Proceedings in International Conference on Intelligent Human Computer Interaction, India (2012)
Munakata, Y., Tanaka, A., Wada, M.: A Five-wheel Wheelchair with an Active-caster Drive System. In: IEEE International Conference on Rehabilitation Robotics, USA, pp. 1–6 (2013)
Yuan, J.: Stability Analyses of Wheelchair Robot Based on Human-in-the-Loop Control Theory. In: IEEE International Conference on Robotics and Biomimetics, Thailand,, pp. 419–424 (2009)
Soh, H., Demiris, Y.: Involving young children in the development of a safe, smart paediatric wheelchair. Presented at the ACM/IEEE HRI-2011 Pioneers Workshop, Lausanne, Switzerland (2011)
Nam, Y., Zhao, Q., Cichocki, A., Choi, S.: Tongue-Rudder: A Glossokinetic-Potential-Based Tongue–Machine Interface. IEEE Transactions on Biomedical Engineering, 290–299 (2012)
Munakata, Y., Tanaka, A., Wada, M.: A five-wheel wheelchair with an active-caster drive system. In: IEEE International Conference on Rehabilitation Robotics, pp. 1–6 (2013)
De La Cruz, C., Bastos, T.F., Carelli, R.: Adaptive motion control law of a robotic wheelchair. Control Engineering Practice, 113–125 (2011)
Soeanto, D., Lapierre, L., Pascoal, A.: Adaptive non-singular path-following, control of dynamic wheeled robots. In: Proceedings of 42nd IEEE Conference on Decision and Control, Hawaii, USA, December 9-12, pp. 1765–1770 (2003)
Xu, Y., Zhang, C., Bao, W., Tong, L.: Dynamic Sliding Mode Controller Based on Particle Swarm Optimization for Mobile Robot’s Path Following. International Forum on Information Technology and Applications, 257–260 (2009)
Wangmanaopituk, S., Voos, H., Kongprawechnon, W.: Collaborative Nonlinear Model-Predictive Collision Avoidance and Path Following of Mobile Robots. In: ICROS-SICE International Joint Conference 2009, Japan, pp. 3205–3210 (2009)
Tanimoto, Y., Yamamoto, H., Namba, K., Tokuhiro, A., Furusawa, K., Ukida, H.: Imaging of the turn space and path of movement of a wheelchair for remodeling houses of individuals with SCI. In: IEEE International Conference on Imaging Systems and Techniques (2012)
Chen, S.-H., Chou, J.-J.: Motion control of the electric wheelchair powered by rim motors based on event-based cross-coupling control strategy. In: IEEE/SICE International Symposium on System Integration (2011)
Martins, F.N., Celeste, W., Carelli, R., Sarcinelli-Filho, M., Bastos-Filho, T.: An Adaptive Dynamic Controller for Autonomous Mobile Robot Trajectory Tracking. Control Engineering Practice 16, 1354–1363 (2008)
Chénier, F., Bigras, P., Aissaoui, R.: A new dynamic model of the manual wheelchair for straight and curvilinear propulsion. In: IEEE International Conference on Rehabilitation Robotics (2011)
Yahaya, S.Z., Boudville, R., Taib, M.N., Hussain, Z.: Dynamic modeling and control of wheel-chaired elliptical stepping exercise. In: IEEE International Conference on Control System, Computing and Engineering, pp. 204–209 (2012)
Zhang, Y., Hong, D., Chung, J.H., Velinsky, S.A.: Dynamic Model Based Robust Tracking Control of a Differentially Steered Wheeled Mobile Robot. In: Proceedings of the American Control Conference, Philadelphia, Pennsylvania, pp. 850–855 (1998)
Aström, K.J., Wittenmark, B.: Adaptive Control. Addison-Wesley (1995)
Reyes, F., Kelly, R.: On parameter identification of robot manipulator. In: IEEE International Conference on Robotics and Automation, pp. 1910–1915 (1997)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Andaluz, V.H. et al. (2014). Robust Control with Dynamic Compensation for Human-Wheelchair System. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8917. Springer, Cham. https://doi.org/10.1007/978-3-319-13966-1_37
Download citation
DOI: https://doi.org/10.1007/978-3-319-13966-1_37
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13965-4
Online ISBN: 978-3-319-13966-1
eBook Packages: Computer ScienceComputer Science (R0)