Abstract
This work presents an adaptive dynamic control to solve the path following problem for the human-wheelchair system, allowing people with lower and upper extremity impairments to move a wheelchair through brain signals. The desired velocity of the wheelchair is considered as a function of the disregard of the person to move the robotic wheelchair. Additionally, the kinematic and dynamic modeling of a human-wheelchair system where it is considered that its mass center is not located at the wheels’ axis center of the wheelchair. This controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and an adaptive dynamic controller that compensates the dynamics of the human-wheelchair system. Stability and robustness are proved by using Lyapunov’s method. Experimental results show a good performance of the proposed controller as proved by the theoretical design.
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Acknowledgment
The authors would like to thanks to the Universidad Técnica de Ambato for financing the project Robotic Assistance for Persons with Disabilities (Resolution: 1151-CU-P-2012). Also to the Universidad de las Fuerzas Armadas ESPE and to the Escuela Superior Politécnica de Chimborazo for the support to develop of the Master’s Thesis Control de una silla de ruedas a través de señales cerebrales.
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Andaluz, V.H., Ortiz, J.S., Chicaiza, F.A., Varela, J., Espinosa, E.G., Canseco, P. (2016). Adaptive Control of the Human-Wheelchair System Through Brain Signals. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9835. Springer, Cham. https://doi.org/10.1007/978-3-319-43518-3_22
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DOI: https://doi.org/10.1007/978-3-319-43518-3_22
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