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Control of an automated wheelchair

Abstract : 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.
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https://hal-uphf.archives-ouvertes.fr/hal-03691507
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Thursday, June 9, 2022 - 10:39:27 AM
Last modification on : Thursday, June 16, 2022 - 3:43:41 AM
Long-term archiving on: : Saturday, September 10, 2022 - 6:27:12 PM

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Distributed under a Creative Commons Attribution - NonCommercial - NoDerivatives 4.0 International License

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

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