Title :
H∞ control of three-wheeled electric cart for health care
Author :
She, Jin-hua ; Ohyama, Yasuhiro ; Kobayashi, Hiroyuki ; Suzuki, Tetsuya
Author_Institution :
Sch. of Bionics, Tokyo Univ. of Tech., Japan
Abstract :
A three-wheeled electric cart was developed for the elderly and people undergoing rehabilitation. A bilateral master-slave system configuration is employed to control the speed of the cart, and the controller was designed based on H∞ control theory. The main feature of the system is that the load added to the pedals can easily be adjusted with a speed-adjustment program to suit the strength of the driver. Experimental results on a fabricated cart demonstrate the validity and effectiveness of the design methodology.
Keywords :
H∞ control; control system synthesis; electric vehicles; geriatrics; health care; medical control systems; patient rehabilitation; velocity control; H∞ control theory; bilateral master-slave system; cart speed control; controller design; health care; patient rehabilitation; speed adjustment program; three wheeled electric cart; Aging; Control systems; Control theory; Government; Leg; Master-slave; Medical services; Research and development; Road transportation; Senior citizens;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387199
