NDLI: Predictive control for trajectory tracking of an electrical wheelchair

Content Provider	IEEE Xplore Digital Library
Author	Bdirina, K. Hedjar, R. Boucherit, M.S. Naimi, H.
Copyright Year	2015
Description	Author affiliation: Djelfa Univ., Djelfa, Algeria (Naimi, H.) \|\| Appl. Autom. & Ind. Diagnostic Lab., Djelfa Univ., Djelfa, Algeria (Bdirina, K.) \|\| Kind Saud Univ., Riad, Saudi Arabia (Hedjar, R.) \|\| Nat. Polytech. Sch. of Elharrach, Algiers, Algeria (Boucherit, M.S.)
Abstract	In this work a fixed one step ahead predictive control has been applied to control angular position and linear velocity of an electrical wheelchair. The purpose of such as controller is to assist wheelchair users providing an easier and safer navigation. In addition the importance of this type of control is its effect by operation of the feedforward path to follow in the future, on the other hand, it is possible to exploit fully the information of predefined trajectories, the goal of this strategy is matching the output of the process with setpoint in the future. The study itself was very rewarding because it been conducted since the modeling phase based on Langrage analysis of the wheelchair until the design phase of the control law. The simulation results shows the effectiveness of the one step ahead predictive control in term of reference tracking, where an accurate tracking of angular position and linear velocity modulus smooth reference signals is exhibited.
Starting Page	237
Ending Page	242
File Size	349775
Page Count	6
File Format	PDF
e-ISBN	9781479983186
DOI	10.1109/ICoSC.2015.7152755
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-04-28
Publisher Place	Tunisia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Wheelchairs Predictive models Trajectory Mathematical model Nonlinear systems Predictive control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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