Integrated synchronized motion control for a force sensorless power-assisted wheelchair

Po Wen Hsueh, Mi-Ching Tsai, Hung Ting Pan, Albane Grandjean

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages5956-5961
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - 2011 Jan 1

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Fingerprint

Integrated control
Wheelchairs
Motion control
Control systems
Electric motors
Wheels
Torque
Controllers
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Hsueh, P. W., Tsai, M-C., Pan, H. T., & Grandjean, A. (2011). Integrated synchronized motion control for a force sensorless power-assisted wheelchair. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 5956-5961). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.01769
Hsueh, Po Wen ; Tsai, Mi-Ching ; Pan, Hung Ting ; Grandjean, Albane. / Integrated synchronized motion control for a force sensorless power-assisted wheelchair. Proceedings of the 18th IFAC World Congress. 1 PART 1. ed. IFAC Secretariat, 2011. pp. 5956-5961 (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1).
@inproceedings{59c9d68e0e8d403f9a78bdd8b63276c4,
title = "Integrated synchronized motion control for a force sensorless power-assisted wheelchair",
abstract = "A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.",
author = "Hsueh, {Po Wen} and Mi-Ching Tsai and Pan, {Hung Ting} and Albane Grandjean",
year = "2011",
month = "1",
day = "1",
doi = "10.3182/20110828-6-IT-1002.01769",
language = "English",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "5956--5961",
booktitle = "Proceedings of the 18th IFAC World Congress",
address = "Austria",
edition = "1 PART 1",

}

Hsueh, PW, Tsai, M-C, Pan, HT & Grandjean, A 2011, Integrated synchronized motion control for a force sensorless power-assisted wheelchair. in Proceedings of the 18th IFAC World Congress. 1 PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1 PART 1, vol. 44, IFAC Secretariat, pp. 5956-5961. https://doi.org/10.3182/20110828-6-IT-1002.01769

Integrated synchronized motion control for a force sensorless power-assisted wheelchair. / Hsueh, Po Wen; Tsai, Mi-Ching; Pan, Hung Ting; Grandjean, Albane.

Proceedings of the 18th IFAC World Congress. 1 PART 1. ed. IFAC Secretariat, 2011. p. 5956-5961 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Integrated synchronized motion control for a force sensorless power-assisted wheelchair

AU - Hsueh, Po Wen

AU - Tsai, Mi-Ching

AU - Pan, Hung Ting

AU - Grandjean, Albane

PY - 2011/1/1

Y1 - 2011/1/1

N2 - A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.

AB - A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.

UR - http://www.scopus.com/inward/record.url?scp=84866752946&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84866752946&partnerID=8YFLogxK

U2 - 10.3182/20110828-6-IT-1002.01769

DO - 10.3182/20110828-6-IT-1002.01769

M3 - Conference contribution

SN - 9783902661937

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 5956

EP - 5961

BT - Proceedings of the 18th IFAC World Congress

PB - IFAC Secretariat

ER -

Hsueh PW, Tsai M-C, Pan HT, Grandjean A. Integrated synchronized motion control for a force sensorless power-assisted wheelchair. In Proceedings of the 18th IFAC World Congress. 1 PART 1 ed. IFAC Secretariat. 2011. p. 5956-5961. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1 PART 1). https://doi.org/10.3182/20110828-6-IT-1002.01769