Adaptive Control for Velocity Control of an Electric Wheelchair

被引：0
|
作者：
Clearesta, Evan [1 ]
AnantaAdhiWardhana [1 ]
Widyotriatmo, Augie [2 ]
Suprijanto [2 ]
机构：
[1] ITB, Fac Ind Technol, Engn Phys Program, Bandung, Indonesia
[2] ITB, Fac Ind Technol, Instrumentat & Control Res Grp, Bandung, Indonesia
来源：
2013 3RD INTERNATIONAL CONFERENCE ON INSTRUMENTATION CONTROL AND AUTOMATION (ICA 2013) | 2013年
关键词：
wheel-chair; adaptive control; velocity control; MRAC; NONHOLONOMIC SYSTEMS; STABILIZATION; FEEDBACK; VEHICLE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the implementation of adaptive control of an electric wheelchair. The control objective is to control the velocity of the left and right wheels to follow the desired velocity commands. The equations of motion of the wheelchair are derived. This system compared the wheel rotational velocity that is measured by the encoder with the reference model. The adaptive control equation stability has been checked with Lyapunov stability. The simulation result shows that the electric wheelchair velocity using this control system tracks the desired velocity model. If the input was made truncated, it just makes the system reaches its set point a little bit longer.
引用
收藏
页码：222 / 226
页数：5
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