Optimal control of the wheelchair wheelie

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dc.contributor.authorDOS SANTOS, E. G.
dc.contributor.authorFabrizio Leonardi
dc.contributor.authorMarko Ackermann
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8056-7645
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-0252-5228
dc.date.accessioned2022-01-12T21:59:17Z
dc.date.available2022-01-12T21:59:17Z
dc.date.issued2016-08-18
dc.description.abstractThe wheelchair wheelie is a maneuver employed to overcome obstacles and descend ramps, for instance. The task is similar to the stabilization problem of an inverted pendulum that is extensively described in the control theory literature. However, in this case, the goal is to maintain the user and the wheelchair in equilibrium on wheels, which is achieved when the center of mass of the system is aligned with the rear axle in the vertical direction. This work investigates a controller to perform the wheelie in power-assisted wheelchairs using optimal control theory and a model of the user and wheelchair system. The proposed approach leads to a controller capable of rising the wheelchair, which is able to reject perturbations and which is robust to typical parameter uncertainties.
dc.description.firstpage218
dc.description.lastpage224
dc.identifier.citationDOS SANTOS, E. G.; LEONARDI, F.; ACKERMANN, M. Optimal control of the wheelchair wheelie. Proceedings of the 6th IASTED International Conference on Modelling, Simulation and Identification, MSI 2016, p. 218-224, Aug. 2016.
dc.identifier.doi10.2316/P.2016.840-051
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3920
dc.relation.ispartofProceedings of the 6th IASTED International Conference on Modelling, Simulation and Identification, MSI 2016
dc.rightsAcesso Restrito
dc.subject.otherlanguageOptimal control
dc.subject.otherlanguageWheelchair
dc.subject.otherlanguageWheelie
dc.titleOptimal control of the wheelchair wheelie
dc.typeArtigo de evento
fei.scopus.citations2
fei.scopus.eid2-s2.0-85015681267
fei.scopus.subjectInverted pendulum
fei.scopus.subjectOptimal control theory
fei.scopus.subjectOptimal controls
fei.scopus.subjectParameter uncertainty
fei.scopus.subjectPower-assisted wheelchair
fei.scopus.subjectStabilization problems
fei.scopus.subjectVertical direction
fei.scopus.subjectWheelie
fei.scopus.updated2024-07-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85015681267&origin=inward
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