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...

Full description

Saved in:
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
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites cdi_FETCH-LOGICAL-c309t-d0902e2e501b12228ccd39a0bf65bbf874d02b8493f4559f6b1bcd1a5d2452fc3
container_end_page 13
container_issue 1
container_start_page 12074
container_title IOP conference series. Materials Science and Engineering
container_volume 53
creator Aula, A
Akmeliawati, R
Ahmad, S
Altalmas, T M
Sidek, S N
description 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.
doi_str_mv 10.1088/1757-899X/53/1/012074
format article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_1744714051</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>1744714051</sourcerecordid><originalsourceid>FETCH-LOGICAL-c309t-d0902e2e501b12228ccd39a0bf65bbf874d02b8493f4559f6b1bcd1a5d2452fc3</originalsourceid><addsrcrecordid>eNpdkE1Lw0AQhhdRsFZ_grDgxUvszn4k2WMpagVFDxG9LZv9sClptu6mFP-9CZUePL3D8DC88yB0DeQOSFnOoBBFVkr5ORNsBjMClBT8BE2O-9PjXMI5ukhpTUhecE4mqKrCXkeb8FuIfbbUm6btQ9foDs-32xi0WWEfIn4J1rVN94V1Z_EidH0MLQ4eV_uQ7VfOtc7ijzHNSjfxEp153SZ39ZdT9P5wXy2W2fPr49Ni_pwZRmSfWSIJddQJAjVQSktjLJOa1D4Xde3LgltC65JL5rkQ0uc11MaCFpZyQb1hU3R7uDs0_d651KtNk4xrW925sEsKhh8L4ETAgN78Q9dhF7uhnaIiHxAmKR8ocaBMDClF59U2NhsdfxQQNbpWo0c1OlWCKVAH1-wX8bBxnw</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2564053924</pqid></control><display><type>article</type><title>Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair</title><source>Publicly Available Content Database</source><source>Free Full-Text Journals in Chemistry</source><creator>Aula, A ; Akmeliawati, R ; Ahmad, S ; Altalmas, T M ; Sidek, S N</creator><creatorcontrib>Aula, A ; Akmeliawati, R ; Ahmad, S ; Altalmas, T M ; Sidek, S N</creatorcontrib><description>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.</description><identifier>ISSN: 1757-8981</identifier><identifier>EISSN: 1757-899X</identifier><identifier>DOI: 10.1088/1757-899X/53/1/012074</identifier><language>eng</language><publisher>Bristol: IOP Publishing</publisher><subject>Adjustable ; Balancing ; Design engineering ; Mathematical models ; Nonlinearity ; Seats ; Subsystems ; Transformations (mathematics) ; Wheelchairs</subject><ispartof>IOP conference series. Materials Science and Engineering, 2013-01, Vol.53 (1), p.12074-13</ispartof><rights>2013. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c309t-d0902e2e501b12228ccd39a0bf65bbf874d02b8493f4559f6b1bcd1a5d2452fc3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.proquest.com/docview/2564053924?pq-origsite=primo$$EHTML$$P50$$Gproquest$$Hfree_for_read</linktohtml><link.rule.ids>314,780,784,25752,27923,27924,37011,37012,44589</link.rule.ids></links><search><creatorcontrib>Aula, A</creatorcontrib><creatorcontrib>Akmeliawati, R</creatorcontrib><creatorcontrib>Ahmad, S</creatorcontrib><creatorcontrib>Altalmas, T M</creatorcontrib><creatorcontrib>Sidek, S N</creatorcontrib><title>Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair</title><title>IOP conference series. Materials Science and Engineering</title><description>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.</description><subject>Adjustable</subject><subject>Balancing</subject><subject>Design engineering</subject><subject>Mathematical models</subject><subject>Nonlinearity</subject><subject>Seats</subject><subject>Subsystems</subject><subject>Transformations (mathematics)</subject><subject>Wheelchairs</subject><issn>1757-8981</issn><issn>1757-899X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2013</creationdate><recordtype>article</recordtype><sourceid>PIMPY</sourceid><recordid>eNpdkE1Lw0AQhhdRsFZ_grDgxUvszn4k2WMpagVFDxG9LZv9sClptu6mFP-9CZUePL3D8DC88yB0DeQOSFnOoBBFVkr5ORNsBjMClBT8BE2O-9PjXMI5ukhpTUhecE4mqKrCXkeb8FuIfbbUm6btQ9foDs-32xi0WWEfIn4J1rVN94V1Z_EidH0MLQ4eV_uQ7VfOtc7ijzHNSjfxEp153SZ39ZdT9P5wXy2W2fPr49Ni_pwZRmSfWSIJddQJAjVQSktjLJOa1D4Xde3LgltC65JL5rkQ0uc11MaCFpZyQb1hU3R7uDs0_d651KtNk4xrW925sEsKhh8L4ETAgN78Q9dhF7uhnaIiHxAmKR8ocaBMDClF59U2NhsdfxQQNbpWo0c1OlWCKVAH1-wX8bBxnw</recordid><startdate>20130101</startdate><enddate>20130101</enddate><creator>Aula, A</creator><creator>Akmeliawati, R</creator><creator>Ahmad, S</creator><creator>Altalmas, T M</creator><creator>Sidek, S N</creator><general>IOP Publishing</general><scope>AAYXX</scope><scope>CITATION</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>D1I</scope><scope>DWQXO</scope><scope>HCIFZ</scope><scope>KB.</scope><scope>L6V</scope><scope>M7S</scope><scope>PDBOC</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>7SR</scope><scope>7TB</scope><scope>8BQ</scope><scope>8FD</scope><scope>FR3</scope><scope>JG9</scope><scope>KR7</scope></search><sort><creationdate>20130101</creationdate><title>Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair</title><author>Aula, A ; Akmeliawati, R ; Ahmad, S ; Altalmas, T M ; Sidek, S N</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c309t-d0902e2e501b12228ccd39a0bf65bbf874d02b8493f4559f6b1bcd1a5d2452fc3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Adjustable</topic><topic>Balancing</topic><topic>Design engineering</topic><topic>Mathematical models</topic><topic>Nonlinearity</topic><topic>Seats</topic><topic>Subsystems</topic><topic>Transformations (mathematics)</topic><topic>Wheelchairs</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Aula, A</creatorcontrib><creatorcontrib>Akmeliawati, R</creatorcontrib><creatorcontrib>Ahmad, S</creatorcontrib><creatorcontrib>Altalmas, T M</creatorcontrib><creatorcontrib>Sidek, S N</creatorcontrib><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni)</collection><collection>ProQuest Central</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Materials Science Collection</collection><collection>ProQuest Central</collection><collection>SciTech Premium Collection</collection><collection>Materials Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Materials Science Collection</collection><collection>Publicly Available Content Database</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>Engineered Materials Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Materials Research Database</collection><collection>Civil Engineering Abstracts</collection><jtitle>IOP conference series. Materials Science and Engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Aula, A</au><au>Akmeliawati, R</au><au>Ahmad, S</au><au>Altalmas, T M</au><au>Sidek, S N</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair</atitle><jtitle>IOP conference series. Materials Science and Engineering</jtitle><date>2013-01-01</date><risdate>2013</risdate><volume>53</volume><issue>1</issue><spage>12074</spage><epage>13</epage><pages>12074-13</pages><issn>1757-8981</issn><eissn>1757-899X</eissn><abstract>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.</abstract><cop>Bristol</cop><pub>IOP Publishing</pub><doi>10.1088/1757-899X/53/1/012074</doi><tpages>13</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 1757-8981
ispartof IOP conference series. Materials Science and Engineering, 2013-01, Vol.53 (1), p.12074-13
issn 1757-8981
1757-899X
language eng
recordid cdi_proquest_miscellaneous_1744714051
source Publicly Available Content Database; Free Full-Text Journals in Chemistry
subjects Adjustable
Balancing
Design engineering
Mathematical models
Nonlinearity
Seats
Subsystems
Transformations (mathematics)
Wheelchairs
title Towards Port-Hamiltonian Approach for Modeling and Control of Two-wheeled Wheelchair
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-12T19%3A21%3A21IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Towards%20Port-Hamiltonian%20Approach%20for%20Modeling%20and%20Control%20of%20Two-wheeled%20Wheelchair&rft.jtitle=IOP%20conference%20series.%20Materials%20Science%20and%20Engineering&rft.au=Aula,%20A&rft.date=2013-01-01&rft.volume=53&rft.issue=1&rft.spage=12074&rft.epage=13&rft.pages=12074-13&rft.issn=1757-8981&rft.eissn=1757-899X&rft_id=info:doi/10.1088/1757-899X/53/1/012074&rft_dat=%3Cproquest_cross%3E1744714051%3C/proquest_cross%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c309t-d0902e2e501b12228ccd39a0bf65bbf874d02b8493f4559f6b1bcd1a5d2452fc3%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=2564053924&rft_id=info:pmid/&rfr_iscdi=true