Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase...

Full description

Bibliographic Details
Main Authors:	Aula, A, Akmeliawati, Rini, Ahmad, S, Altalmas, T M, Sidek, S N
Format:	Article
Language:	English
Published:	IOP Publishing 2013
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/1/Towards-port-Hamiltonian-approach-for-modeling-and-control-of-two-wheeled-wheelchair_2013_IOP-Conference-Series-Materials-Science-and-Engineering.pdf

id	iium-42121
recordtype	eprints
spelling	iium-421212015-03-04T01:19:19Z http://irep.iium.edu.my/42121/ Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair Aula, A Akmeliawati, Rini Ahmad, S Altalmas, T M Sidek, S N TJ212 Control engineering This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increased mobility and independence of the user. Then, the mathematical model of a TWW in its balanced mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using port-controlled Hamiltonian (PCH) system and made to advantage. The proposed controlled is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system. IOP Publishing 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/42121/1/Towards-port-Hamiltonian-approach-for-modeling-and-control-of-two-wheeled-wheelchair_2013_IOP-Conference-Series-Materials-Science-and-Engineering.pdf Aula, A and Akmeliawati, Rini and Ahmad, S and Altalmas, T M and Sidek, S N (2013) Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair. IOP Conference Series: Materials Science and Engineering, 53. 012074. ISSN 1757-8981 http://dx.doi.org/10.1088/1757-899X/53/1/012074 10.1088/1757-899X/53/1/012074
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Aula, A Akmeliawati, Rini Ahmad, S Altalmas, T M Sidek, S N Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
description	This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increased mobility and independence of the user. Then, the mathematical model of a TWW in its balanced mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using port-controlled Hamiltonian (PCH) system and made to advantage. The proposed controlled is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system.
format	Article
author	Aula, A Akmeliawati, Rini Ahmad, S Altalmas, T M Sidek, S N
author_facet	Aula, A Akmeliawati, Rini Ahmad, S Altalmas, T M Sidek, S N
author_sort	Aula, A
title	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_short	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_fullStr	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full_unstemmed	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_sort	towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
publisher	IOP Publishing
publishDate	2013
url	http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/ http://irep.iium.edu.my/42121/1/Towards-port-Hamiltonian-approach-for-modeling-and-control-of-two-wheeled-wheelchair_2013_IOP-Conference-Series-Materials-Science-and-Engineering.pdf
first_indexed	2023-09-18T21:00:06Z
last_indexed	2023-09-18T21:00:06Z
_version_	1777410566090915840

Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

Similar Items