An Approach on Velocity and Stability Control of a Two-wheeled Robotic Wheelchair

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aut.relation.endpage6446
aut.relation.issue18en_NZ
aut.relation.journalApplied Sciencesen_NZ
aut.relation.startpage6446
aut.relation.volume10en_NZ
aut.researcherHuang, Loulin
dc.contributor.authorNikpour, Men_NZ
dc.contributor.authorHuang, Len_NZ
dc.contributor.authorAl-Jumaily, AMen_NZ
dc.date.accessioned2020-09-29T23:05:27Z
dc.date.available2020-09-29T23:05:27Z
dc.description.abstractConventional robotic wheelchairs (three or four-wheeled) which are statically stable are poor in mobility. Though a two-wheeled robotic wheelchair has better mobility, it is not statically stable and needs an active stability controller. In addition to mobility and stability, velocity control is also important for the operation of a wheelchair. Conventional stability and velocity controllers rely on the motion of the wheels and require high driving torque and power. In this paper, this problem is tackled by adding a compact pendulum-like movable mechanism whose main function is for stability control. Its motion and those of the wheels are controlled through a quasi-sliding mode control approach to achieve a simultaneous velocity and stability control with much less driving torque and power. Simulation results are presented to show the effectiveness of the proposed controller.en_NZ
dc.identifier.citationApplied Sciences. 2020; 10(18):6446.
dc.identifier.doi10.3390/app10186446en_NZ
dc.identifier.issn2076-3417en_NZ
dc.identifier.urihttps://hdl.handle.net/10292/13694
dc.languageenen_NZ
dc.publisherMDPI AGen_NZ
dc.relation.urihttps://www.mdpi.com/2076-3417/10/18/6446
dc.rights© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
dc.rights.accessrightsOpenAccessen_NZ
dc.subjectTwo-wheeled robotic wheelchair; Stability control; Velocity control; Quasi-sliding mode control
dc.titleAn Approach on Velocity and Stability Control of a Two-wheeled Robotic Wheelchairen_NZ
dc.typeJournal Article
pubs.elements-id392417
pubs.organisational-data/AUT
pubs.organisational-data/AUT/Design & Creative Technologies
pubs.organisational-data/AUT/Design & Creative Technologies/Engineering, Computer & Mathematical Sciences
pubs.organisational-data/AUT/PBRF
pubs.organisational-data/AUT/PBRF/PBRF Design and Creative Technologies
pubs.organisational-data/AUT/PBRF/PBRF Design and Creative Technologies/PBRF ECMS
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