文章基本信息

标题：Adaptive Motion Control of Nonholonomic Intelligent Walker-Human Systems
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作者：Halit Zengin ; Nursefa Zengin ; Baris Fidan 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：13
页码：312-317
DOI：10.1016/j.ifacol.2016.07.982
语种：English
出版社：Elsevier
摘要：AbstractThis paper focuses on motion control of active intelligent walkers robust to system parameter variations and uncertainties. It presents a new realistic control-oriented model and, based on this model, an adaptive motion control design to generate appropriate torques to keep the i-walker in front of the user at the desired distance. Our control design utilizes inverse kinematics equations derived from a two-body kinematic model and to adaptively generate the reference velocities for maintaining ideal relative position of i-walker with respect to the user. The torques to track the reference velocities are generated using an adaptive proportional-integral-derivative control scheme, which is robust to unknown torque disturbances, combined with a computed torque based feedback linearization unit and a high gain observer to estimate the wheel velocities. The designed control scheme is formally analyzed and simulation tested for both symmetric and asymmetric gait patterns.
关键词：Keywordsadaptive controlphysical human-walker interactionleast squares based parameter identifiernonholonomic i-walkerfeedback linearizationhigh gain observer