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

• Main Authors: Aula, A, Akmeliawati, Rini, Ahmad, S, Altalmas, T M, Sidek, S N
• Format: Article
• Language: English
• Published: IOP Publishing 2013
• Subjects: TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/42121/1/Towards-port-Hamiltonian-approach-for-modeling-and-control-of-two-wheeled-wheelchair_2013_IOP-Conference-Series-Materials-Science-and-Engineering.pdf; http://irep.iium.edu.my/42121/; http://dx.doi.org/10.1088/1757-899X/53/1/012074

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 increase...