{"title":"弹性路径控制器的分析与参数优化","authors":"Longjiang Zhou, C. Teo, E. Burdet","doi":"10.1109/IROS.2007.4399033","DOIUrl":null,"url":null,"abstract":"This paper presents an analysis of a newly developed elastic path controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC.","PeriodicalId":227148,"journal":{"name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Analysis and parameter optimization of an elastic path controller\",\"authors\":\"Longjiang Zhou, C. Teo, E. Burdet\",\"doi\":\"10.1109/IROS.2007.4399033\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an analysis of a newly developed elastic path controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC.\",\"PeriodicalId\":227148,\"journal\":{\"name\":\"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-12-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2007.4399033\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2007.4399033","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Analysis and parameter optimization of an elastic path controller
This paper presents an analysis of a newly developed elastic path controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC.
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