| Autor: |
BOUBEKEUR, Djamila, BOUMEDIENE, Abdelmadjid, SARI, Zaki, TAHRAOUI, Souad |
| Předmět: |
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| Zdroj: |
Electrotehnica, Electronica, Automatica; apr-jun2015, Vol. 63 Issue 2, p86-94, 9p |
| Abstrakt: |
Various models and controllers have been both applied to explain and control the dynamics of Electric Powered Wheelchair (EWP). The objective of this paper is to establish a comparative study control of under-actuated, nonlinear, coupled, multivariable EPW system. At first, a decoupling law is involved to a simplified EPW dynamic modelling in order to control each wheel independently by the classical linear Proportional Integral Derivate (PID) corrector. Furthermore, the use of the nonlinear multivariable control as backstepping regulation is applied to the all system. Finally, several simulations are carried out to illustrate the effectiveness of proposed control method. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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