Projects per year
Non-model-based control of a wheeled vehicle pulling two trailers is presented. It is a fun train for disabled children consisting of a locomotive and two carriages. The fun train has afforded opportunities for both disabled and able bodied young people to share an activity and has provided early driving experiences for disabled children; it has introduced them to assistive and powered mobility. The train is a nonlinear system and subject to nonholonomic kinematic constraints so that position and state depend on the path taken to get there. The train is described and then a robust control algorithm using Proportional-Derivative filtered errors is presented to control the locomotive. The controller was not dependent on an accurate model of the train because the mass of the vehicle and two carriages changed depending on the number, size and shape of children and wheelchair seats on the train. The controller was robust and stable in uncertainty. Results are presented to show the effectiveness of the approach, and the suggested control algorithm is shown to be acceptable without knowing the plant dynamics.
|Number of pages||9|
|Journal||IEEE Transactions on Neural Systems and Rehabilitation Engineering|
|Early online date||12 Jul 2017|
|Publication status||Published - 10 Jan 2018|
- powered mobility
- nonholonomic constraint
FingerprintDive into the research topics of 'Non-model-based control of a wheeled vehicle pulling two trailers to provide early powered mobility and driving experiences'. Together they form a unique fingerprint.
14/04/16 → …
Using artificial intelligence to share control of a powered-wheelchair between a wheelchair user and an intelligent sensor system
1/11/18 → 1/11/22
1/05/04 → 10/01/08