4322 自律型車椅子走行時の重力補償型スライディングモード制御(G15-4 福祉ロボット,G15 ロボティクス・メカトロニクス)

概要

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This paper presents a study on the application of the sliding mode control to development of the maneuver systems of the autonomous electric wheelchair. At first, preliminary method was developed and evaluated by actual wheelchair experiments. From the results, it was found that the robustness could not be assured in some cases, because the output response was delayed by the saturation of the control input and by the existence of the lags of sensors and actuators ignored in the controller design. To avoid these problems, adaptive sliding mode cobtrol was then newly developed by the method that magnitude of the nonlinear part of the input was changed adaptively by introducing the tire model into the control algorithm and estimating the parameter changes.
2007-09-07