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

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 m...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2013-01, Vol.53 (1), p.12074-13
Main Authors: Aula, A, Akmeliawati, R, Ahmad, S, Altalmas, T M, Sidek, S N
Format: Article
Language:English
Subjects:
Adjustable
Balancing
Design engineering
Mathematical models
Nonlinearity
Seats
Subsystems
Transformations (mathematics)
Wheelchairs
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Summary: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.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/53/1/012074