Center of gravity compensation for dynamically-balanced two-wheeled wheelchair system

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dc.contributor.author Acar, Cihan en
dc.contributor.author Murakami, T en
dc.date.accessioned 2012-02-15T21:35:16Z en
dc.date.issued 2011 en
dc.identifier.citation IEEJ Transactions on Industry Applications 131(5):714-720 2011 en
dc.identifier.issn 0913-6339 en
dc.identifier.uri http://hdl.handle.net/2292/11330 en
dc.description.abstract Two-wheeled systems have many advantages compared to statically stable systems. This paper describes a control strategy of dynamically-balanced two-wheeled wheelchair system that does not have any front casters. In this system, rider can sit the seat and control the motion of the system by adjusting CoG of his/her body. Unlike other commercial two-wheeled systems, CoG position of the upper body is mainly determined by the position of the user. Thus, there is a possibility that CoG position may not overlap with the wheel axis. In that case, sensor information cannot be used to measure the exact position of the CoG. This paper shows an estimation of method of the unknown CoG position for Two-Wheeled Dynamically-Balanced Wheelchair (TWDBW) is considered. Gravity torque observer with a compliance control is utilized to realize stable compensation according to the variable CoG position. Backstepping based nonlinear control design is applied to regulate and track the CoG motion of the upper body in the TWDBW. The validity of proposed method is verified by simulation and experimental results. en
dc.publisher The Institute of Electrical Engineers of Japan en
dc.relation.ispartofseries IEEJ Transactions on Industry Applications en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from http://www.sherpa.ac.uk/romeo/issn/0913-6339/ en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.subject Two-Wheeled wheelchair, dynamic stability, backstepping, compliance control, center of gravity compensation en
dc.title Center of gravity compensation for dynamically-balanced two-wheeled wheelchair system en
dc.type Journal Article en
dc.identifier.doi 10.1541/ieejias.131.714 en
pubs.issue 5 en
pubs.begin-page 714 en
pubs.volume 131 en
dc.rights.holder Copyright: The Institute of Electrical Engineers of Japan en
pubs.end-page 720 en
dc.rights.accessrights http://purl.org/eprint/accessRights/RestrictedAccess en
pubs.subtype Article en
pubs.elements-id 293041 en
dc.identifier.eissn 1348-8163 en
pubs.record-created-at-source-date 2012-02-22 en


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