Synchronous decoupled motion control for power-wheelchairs

Fu Yun Yang, Mi-Ching Tsai

研究成果: Conference article

1 引文 斯高帕斯(Scopus)


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.

頁(從 - 到)1904-1911
期刊Advanced Materials Research
出版狀態Published - 2012 四月 4
事件3rd international Conference on Manufacturing Science and Engineering, ICMSE 2012 - Xiamen, China
持續時間: 2012 三月 272012 三月 29


All Science Journal Classification (ASJC) codes

  • Engineering(all)