- 期刊
Dynamic Model-Based Adaptive Posture Controller for Robotic WheeIchairs
並列摘要
A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A Switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.
延伸閱讀
- 林敬祥（2013）。Design and implementation of large-scale biped robotwith waist:Using adaptive fuzzy controller〔碩士論文，元智大學〕。華藝線上圖書館。https://doi.org/10.6838/YZU.2013.00264
- Chang, C. H. (2008). Adaptive Fuzzy Controller Design for Biped Robotic Systems [master's thesis, Tatung University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0081-0607200917244004
- 范啟尉（2009）。Adaptive backstepping control for linear pulse motor drive〔碩士論文，國立虎尾科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0028-2906200911264400
- 林俊賢（2011）。Design and Implementation of Two-Wheeled Robot: Using Adaptive Backstepping CMAC Controller〔碩士論文，元智大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0009-2801201414595664
- Song, K. Y., Gupta, M. M., & Homma, N. (2011). Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach. Journal of Robotics, 2011(), 382-390. https://doi.org/10.1155/2011/726807