Title :
Robust optimal control design applied to an electric wheelchair
Author :
Kauffmann, C. ; Zasadzinski, M. ; Darouach, M.
Author_Institution :
ENSEM, Vandoeuvre les Nancy, France
Abstract :
In this paper, we apply a robust loop shaping design, based on an integral linear quadratic control law, to an electrical wheelchair. The control model is described, and the sensitivity to uncertainties in the model parameters is examined. It is demonstrated that the obtained closed-loop model performs well and is stable with respect to the uncertainties in the associated parameters
Keywords :
closed loop systems; control system synthesis; electric vehicles; handicapped aids; linear quadratic control; robust control; closed-loop model; control model; electric wheelchair; integral linear quadratic control; optimal control; parameter uncertainties; robust control; robust loop shaping; Automatic control; DC motors; Damping; Equations; Optimal control; Robust control; Robust stability; Uncertainty; Wheelchairs; Wheels;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.385073
