Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

Aula, Abqori and Akmeliawati, Rini and Ahmad, Salmiah (2013) Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July, 2013,, Kuala Lumpur, Malaysia. (Unpublished)

	PDF (Towards Port-Hamiltonian approach for modeling and control of two-wheeled wheelchair) - Accepted Version Restricted to Repository staff only Download (197kB) | Request a copy
	PDF Restricted to Repository staff only Download (6MB) | Request a copy

Abstract

This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the 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 increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance 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 the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	4113/31676
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA174 Engineering design T Technology > TA Engineering (General). Civil engineering (General) > TA329 Engineering mathematics. Engineering analysis T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Ir. Dr. Salmiah Ahmad
Date Deposited:	28 Aug 2013 13:57
Last Modified:	04 Mar 2015 09:16
URI:	http://irep.iium.edu.my/id/eprint/31676

Actions (login required)

View Item