文章詳目資料
Journal of Medical and Biological Engineering EIMEDLINESCIEScopus
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| 篇名 | Dynamic Model-Based Adaptive Posture Controller for Robotic Wheelchairs |
|---|---|
| 卷期 | 32:1 |
| 作者 | Celso De La Cruz 、 Wanderley Cardoso Celeste 、 Teodiano Freire Bastos |
| 頁次 | 061-069 |
| 關鍵字 | Robotic wheelchair 、 Dynamic model 、 Adaptive control 、 Posture control 、 EI 、 SCI |
| 出刊日期 | 201202 |
中文摘要
英文摘要
A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.
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