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A Robust Adaptive Path-Following Controller for a Robotic Wheelchair

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Abstract

This article proposes a path-following controller for robotic wheelchairs (RW) used to transport people suffering of severe muscular diseases, taking into account velocity bounds and dynamic effects. A parameterized dynamic model, which considers the person on board the RW, is used. The model parameters normally change, generating structured uncertainties. Moreover, the dynamic model is proposed under some simplifications, introducing unstructured uncertainties. Finally, time-varying dynamics, caused basically by user movements, are also considered. Hence, the dynamic controller proposed is adaptive and robust. Experimental and simulation results show the effectiveness and the good performance of the proposed control system.

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Acknowledgments

The authors thank CAPES (Brazil) and SPU (Argentina) for funding the partnership between Federal University of Espirito Santo/Brazil and National University of San Juan/Argentina (Project 018/04 CAPG-BA), and FAPES (Brazil) for financing part of this study (Process: 39385183/2007). Mr. Celeste also thanks CNPq, a Brazilian institution that supports scientific and technical development, for the scholarship he received for his Ph. D. research.

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Authors and Affiliations

  1. Department of Computing and Electronics, Federal University of Espirito Santo, São Mateus, Brazil

    Wanderley Cardoso Celeste

  2. Department of Electrical Engineering, Federal University of Espirito Santo, Vitória, Brazil

    Teodiano Freire Bastos-Filho, Mario Sarcinelli-Filho & Celso De La Cruz

  3. Institute of Automatics of the National University of San Juan, San Juan, Argentina

    Ricardo Carelli

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  1. Wanderley Cardoso Celeste
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  2. Teodiano Freire Bastos-Filho
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  3. Mario Sarcinelli-Filho
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  4. Celso De La Cruz
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  5. Ricardo Carelli
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Correspondence to Wanderley Cardoso Celeste.

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Celeste, W.C., Bastos-Filho, T.F., Sarcinelli-Filho, M. et al. A Robust Adaptive Path-Following Controller for a Robotic Wheelchair. J Control Autom Electr Syst 24, 397–408 (2013). https://doi.org/10.1007/s40313-013-0052-z

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  • DOI: https://doi.org/10.1007/s40313-013-0052-z

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