En Procedimientos

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

Espinosa, F.; López, Elena; Mateos, R.; Mazo, M.; García, Ricardo
Year: 1999
Type of Publication: In Proceedings
Keywords: adaptive optimal control; advanced digital control techniques; differential drive; disabled; guidance system; linear velocity; location error; trajectory tracking system; wheelchair; adaptive control; collision avoidance; digital control; fuzzy control; kinematics; opt
Volume: 1
Book title: Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Pages: 521 -528 vol.1
DOI: 10.1109/ETFA.1999.815399
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
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