Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems
文献类型：期刊论文
| 作者 | Wang J(王剑); Wang T(王挺) ; Yao C(姚辰); Li XF(李小凡); Wu CD(吴成东)
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| 刊名 | Science China Information Sciences
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| 出版日期 | 2014 |
| 卷号 | 57期号:11页码:1-15 |
| 关键词 | Control Control theory Dynamic programming MATLAB Stairs Wheelchairs |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 通讯作者 | 王剑 |
| 中文摘要 | The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with criteria to determine the pattern of the wheelchair robot proposed. Aiming at the complicated mechanism of WT wheelchair robot with holonomic constraints and combining it with the dynamic programming, namely the Hamilton-Jacobi equation, a new control law called active tension optimal control is presented for holonomic or nonholonomic robotic systems, based on which one can make the wheelchair robot with a holonomic or nonholonomic mechanism track the expected reference input of constraint forces of holonomic or nonholinomic constraints as well as track the expected reference input of the generalized coordinate of each joint. The module STATEFLOW in MATLAB is used to simulate the entire stair-climbing process of WT wheelchair robot, and comparison is made between the output curves of each joint and the tension of the track and the expected reference input curves, which verifies the effectiveness of the proposed control law. © 2014 Science China Press and Springer-Verlag Berlin Heidelberg. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | MOBILE ROBOT |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000343081700013 |
| 源URL | [http://ir.sia.cn/handle/173321/15122]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang J,Wang T,Yao C,et al. Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems[J]. Science China Information Sciences,2014,57(11):1-15. |
| APA | Wang J,Wang T,Yao C,Li XF,&Wu CD.(2014).Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems.Science China Information Sciences,57(11),1-15. |
| MLA | Wang J,et al."Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems".Science China Information Sciences 57.11(2014):1-15. |
入库方式： OAI收割
来源：沈阳自动化研究所
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