Robust Controller Design Of A Wheelchair Mobile Via Lmi Approach To Erp Systems With Feedback Output

Author

Rossini, Flavio Luiz ; Gaino, Ruberlei ; Carvalho Minhoto Teixeira, Marcelo ; Assuncao, Edvaldo ; Cardim, Rodrigo ; Covacic, Marcio Roberto

Author_Institution

Univ. Tecnol. Fed. do Parana (UTFPR), Paraná, Brazil

Volume

13

Issue

5

fYear

2015

fDate

May-15

Firstpage

1321

Lastpage

1330

Abstract

This article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI), to obtain Strictly Positive Real (SPR) systems. The contributions of this work were the choice of a mathematical model for wheelchair: mobile with uncertainty about the position of the center of gravity (CG), the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties, the proposal of the control loop and control law with a specified decay rate.

Keywords

control system synthesis; linear matrix inequalities; robust control; wheelchairs; LMI approach; SPR systems; control law; control loop; dynamical systems; feedback output; kinematic systems; linear matrix inequalities; mathematical model; robust controller design; specified decay rate; strictly positive real systems; wheelchair furniture; wheelchair mobile; Customer relationship management; Linear matrix inequalities; Mathematical model; Mobile communication; Robustness; Uncertainty; Wheelchairs; Control Loop; Decoupling of Systems; LMI; Robust controller; Wheelchair Furniture;

fLanguage

English

Journal_Title

Latin America Transactions, IEEE (Revista IEEE America Latina)

Publisher

ieee

ISSN

1548-0992

Type

jour

DOI

10.1109/TLA.2015.7111985

Filename

7111985