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
fDate :
Oct. 29 2007-Nov. 2 2007
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;
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
DOI :
10.1109/IROS.2007.4399033
