Control of an automated wheelchair

Michael Gray (1) , Thierry-Marie Guerra (1) , Sebastien Delprat (1) , Sami Mohammad (2)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 AutoNomad Mobility

Due to the world's aging population, the development of affordable and easy to use wheelchairs is becoming a priority. In this study, the control of an automated wheelchair is proposed. The model equations are derived from the Euler-Lagrange equations, then a descriptor model is formulated. Next, a Takagi-Sugeno descriptor model with a limited number of rules is derived. The control and observation of the model is studied using the delayed non-quadratic Lyapunov function. The closed loop stability is proven using the separation theorem. Lastly, simulation results are given and discussed.

Mots clés: Wheelchair; Takagi Sugeno; Descriptor; Control; non-quadratic delayed Lyapunov function Wheelchair; non-quadratic delayed Lyapunov function

Domaines: Automatique / Robotique

Michael Gray, Thierry-Marie Guerra, Sebastien Delprat, Sami Mohammad. Control of an automated wheelchair. IFAC-PapersOnLine, 2020, 53 (2), pp.7971-7976. ⟨10.1016/j.ifacol.2020.12.2202⟩. ⟨hal-03691507⟩