Control of an automated wheelchair. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Gray, M.; Guerra, T.M.; Delprat, S.; Mohammad, S.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 7971
• Page End: 7976
• Publication Date: 2020
• Subjects: Wheelchair -- Takagi Sugeno -- Descriptor -- Control -- non-quadratic delayed Lyapunov function; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2202
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Due to the world's aging population, the development of affordable and easy to use wheelchairs is becoming a priority. In this study, the control of an automated wheelchair is proposed. The model equations are derived from the Euler-Lagrange equations, then a descriptor model is formulated. Next, a Takagi-Sugeno descriptor model with a limited number of rules is derived. The control and observation of the model is studied using the delayed non-quadratic Lyapunov function. The closed loop stability is proven using the separation theorem. Lastly, simulation results are given and discussed.