Synchronous decoupled motion control for power-wheelchairs

Fu Yun Yang, Mi-Ching Tsai

Research output: Contribution to journalConference article

Abstract

Unanticipated disturbances in outdoor environments are the main impediments to the development of motion control for transmission vehicles. Classical synchronous approaches which neglect the mechanical coupling effect are unsuitable for such types of mechanisms. To address this concern, much effort has been made to overcome such difficulties. A synchronous decoupled control framework was proposed based on the multivariable model, in which a decoupling transformation matrix was adopted for improving the corresponding performance. The concept of the proposed control framework is intuitive and quite straightforward. To demonstrate the capacity of the mathematical model as well as the effectiveness of the control scheme, a power-wheelchair was utilized as an illustrated example, where the synchronous performance can be enhanced by almost 50% as compared to the classic approach.

Original languageEnglish
Pages (from-to)1904-1911
Number of pages8
JournalAdvanced Materials Research
Volume482-484
DOIs
Publication statusPublished - 2012 Apr 4
Event3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China
Duration: 2012 Mar 272012 Mar 29

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Wheelchairs
Motion control
Vehicle transmissions
Mathematical models

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

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abstract = "Unanticipated disturbances in outdoor environments are the main impediments to the development of motion control for transmission vehicles. Classical synchronous approaches which neglect the mechanical coupling effect are unsuitable for such types of mechanisms. To address this concern, much effort has been made to overcome such difficulties. A synchronous decoupled control framework was proposed based on the multivariable model, in which a decoupling transformation matrix was adopted for improving the corresponding performance. The concept of the proposed control framework is intuitive and quite straightforward. To demonstrate the capacity of the mathematical model as well as the effectiveness of the control scheme, a power-wheelchair was utilized as an illustrated example, where the synchronous performance can be enhanced by almost 50{\%} as compared to the classic approach.",
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Synchronous decoupled motion control for power-wheelchairs. / Yang, Fu Yun; Tsai, Mi-Ching.

In: Advanced Materials Research, Vol. 482-484, 04.04.2012, p. 1904-1911.

Research output: Contribution to journalConference article

TY - JOUR

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AU - Tsai, Mi-Ching

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