Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair

Autor:	Salmiah Ahmad, Abqori Aula, Rini Akmeliawati, Tareq Altalmas, Shahrul Na'im Sidek
Rok vydání:	2013
Předmět:	Engineering Nonlinear system symbols.namesake Wheelchair business.industry Energy balance symbols Control engineering Total energy business Hamiltonian (quantum mechanics)
Zdroj:	IOP Conference Series: Materials Science and Engineering. 53:012074
ISSN:	1757-899X 1757-8981
DOI:	10.1088/1757-899x/53/1/012074
Popis:	This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increased mobility and independence of the user. Then, the mathematical model of a TWW in its balanced mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using port-controlled Hamiltonian (PCH) system and made to advantage. The proposed controlled is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6fbf367c255c821ce3515a42ef1f201e https://doi.org/10.1088/1757-899x/53/1/012074 Zobrazit plný text záznamu