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DC Field | Value | Language |
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dc.contributor.author | Onyango, Stevine O. | - |
dc.contributor.author | Hamam, Yskandar | - |
dc.contributor.author | Djouani, Karim | - |
dc.contributor.author | Daachi, Boubaker | - |
dc.date.accessioned | 2022-01-12T09:42:13Z | - |
dc.date.available | 2022-01-12T09:42:13Z | - |
dc.date.issued | 2016 | - |
dc.identifier.uri | https://doi.org/10.1177/0037549716638427 | - |
dc.identifier.uri | http://ir.mu.ac.ke:8080/jspui/handle/123456789/5657 | - |
dc.description.abstract | Wheelchairs are broadly accepted and are widespread because of the assistance they provide to people with limited mobility. The design of a good controller generally involves the formulation of a comprehensive wheelchair model. Most dynamic models in the literature presume non-inclined planer surfaces within-doors, and therefore fail to take the combined effects of both gravitational forces and rolling friction on the usable-traction into consideration. Wheel-slip situations are also commonly neglected. This paper contributes to wheelchair modeling by proposing and formulating a dynamic model that considers the effects of rolling friction and gravitational potential on the wheelchair’s road-load force, on both inclined and non-inclined surfaces. The dynamic model is derived through the Euler Lagrange procedure, and wheel slip is determined by an approach that reduces the convectional number of slip-detection encoders. In the closed-loop model, the input-output feedback controller is proposed for tracking the user inputs by torque compensation. The optimality of the resulting minimum-phase closed-loop system is then ensured through the performance index of the non-linear continuous-time generalized predictive control with good simulation results. | en_US |
dc.language.iso | en | en_US |
dc.publisher | Sage | en_US |
dc.subject | Powered wheelchair | en_US |
dc.subject | Feedback linearization | en_US |
dc.title | Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces | en_US |
dc.type | Article | en_US |
Appears in Collections: | School of Engineering |
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