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Abstract
SUMMARYElectric-powered wheelchairs improve the mobility of people with physical disabilities, but the problem to deal with certain architectural barriers has not been resolved satisfactorily. In order to solve this problem, a stair-climbing mobility system (SCMS) was developed. This paper presents a practical dynamic control system that allows the SCMS to exhibit a successful climbing process when faced with typical architectural barriers such as curbs, ramps, or staircases. The implemented control system depicts high simplicity, computational efficiency, and the possibility of an easy implementation in a microprocessor-/microcontroller-based system. Finally, experiments are included to support theoretical results.
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Becedas J, Trapero J, Feliu V, Sira-Ramirez H. Adaptive Controller for Single-Link Flexible Manipulators Based on Algebraic Identification and Generalized Proportional Integral Control. ACTA ACUST UNITED AC 2009; 39:735-51. [DOI: 10.1109/tsmcb.2008.2008905] [Citation(s) in RCA: 52] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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