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

Author

Espinosa, F. ; López, E. ; Mateos, R. ; Mazo, M. ; Garcia, R.

Author_Institution

Dept. Electron., Alcala Univ., Madrid, Spain

Volume

1

fYear

1999

fDate

1999

Firstpage

521

Abstract

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

Keywords

adaptive control; collision avoidance; digital control; fuzzy control; kinematics; optimal control; position control; reliability; safety; velocity control; adaptive optimal control; advanced digital control techniques; differential drive; disabled; guidance system; linear velocity; location error; trajectory tracking system; wheelchair; Adaptive control; Digital control; Drives; Intelligent vehicles; Optimal control; Programmable control; Trajectory; Vehicle driving; Vehicle safety; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on

Conference_Location

Barcelona

Print_ISBN

0-7803-5670-5

Type

conf

DOI

10.1109/ETFA.1999.815399

Filename

815399