DocumentCode
2333982
Title
Analysis and parameter optimization of an elastic path controller
Author
Zhou, Longjiang ; Teo, Chee Leong ; Burdet, Etienne
Author_Institution
Nat. Univ. of Singapore, Singapore
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
789
Lastpage
794
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.
Keywords
control system analysis; handicapped aids; medical robotics; position control; robust control; digital simulation; elastic path controller; parameter optimization; robotic wheelchair; robust control; Control systems; Humans; Kinematics; Linear feedback control systems; Medical robotics; Mobile robots; Nonlinear control systems; Robust control; Safety devices; Wheelchairs;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location
San Diego, CA
Print_ISBN
978-1-4244-0912-9
Electronic_ISBN
978-1-4244-0912-9
Type
conf
DOI
10.1109/IROS.2007.4399033
Filename
4399033
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