先进数字控制技术在残疾人轮椅驱动与轨迹跟踪系统中的应用

1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467) Pub Date : 1999-10-18 DOI:10.1109/ETFA.1999.815399

F. Espinosa, E. Lopez, R. Mateos, M. Mazo, R. Garcia

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引用次数: 10

摘要

介绍了先进的数字控制技术在残疾人轮椅驱动和轨迹跟踪系统中的应用基础和结果。车辆差动驱动的自适应最优控制有助于提高制导系统的安全性和可靠性。此外，为了使定位误差最小化，结合了一个最优控制器和另一个模糊控制器，使车辆的线速度适应轨迹的特征，使车辆具有高度的智能和自主性，即使在面对障碍物时也是如此。

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Application of advanced digital control techniques to the drive and trajectory tracking system of a wheelchair for the disabled

Presents the basis and results of the application of advanced digital control techniques to the drive and trajectory tracking systems of a wheelchair for the disabled. The adaptive optimal control of the differential drive of the vehicle contributes to improve the guidance system safety and reliability. Furthermore, the incorporation of an optimal controller in order to minimise the location error and of another fuzzy one to adapt the linear velocity of the vehicle to the characteristics of the trajectory provide the vehicle with a high degree of intelligence and autonomy, even when faced with obstacles.

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1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)

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