Adaptive motion control for a differentially driven semi-autonomous wheelchair platform

D. Sinyukov, T. Padır
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引用次数: 6

Abstract

Motorized wheelchairs are systems with changing parameters: rolling friction which depends on the ground surface, center of gravity and even the total mass of the system may vary. This affects the performance of PID controllers normally used for wheelchair velocity control. This paper presents an adaptive controller with online parameter estimation for the motion control of a semi-autonomous robotic wheelchair platform. The proposed controller accepts a second-order trajectory as an input rather then the desired velocity at each moment in time. Mathematical and computer models are developed for the wheelchair and the controller. Four simulation experiments with different initial conditions are demonstrated and analyzed in this work based on a custom developed MATLAB/Simulink® framework for wheelchair dynamic modeling and visualization. Advantages and limitations of the proposed approach are discussed.
差分驱动半自动轮椅平台的自适应运动控制
电动轮椅是具有变化参数的系统:滚动摩擦取决于地面表面,重心甚至系统的总质量都可能发生变化。这影响了通常用于轮椅速度控制的PID控制器的性能。针对半自主机器人轮椅平台的运动控制,提出了一种参数在线估计的自适应控制器。所提出的控制器接受二阶轨迹作为输入,而不是每个时刻的期望速度。建立了轮椅和控制器的数学模型和计算机模型。本文基于定制开发的MATLAB/Simulink®轮椅动力学建模和可视化框架,演示和分析了不同初始条件下的四个仿真实验。讨论了该方法的优点和局限性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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