Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increas...

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Main Authors:	Aula, Abqori, Akmeliawati, Rini, Ahmad, Salmiah
Format:	Conference or Workshop Item
Language:	English English
Published:	2013
Subjects:	TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/31676/ http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf http://irep.iium.edu.my/31676/4/icom13.pdf

id	iium-31676
recordtype	eprints
spelling	iium-316762015-03-04T01:16:30Z http://irep.iium.edu.my/31676/ Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf application/pdf en http://irep.iium.edu.my/31676/4/icom13.pdf Aula, Abqori and Akmeliawati, Rini and Ahmad, Salmiah (2013) Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July, 2013,, Kuala Lumpur, Malaysia. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering
spellingShingle	TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
description	This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system.
format	Conference or Workshop Item
author	Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah
author_facet	Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah
author_sort	Aula, Abqori
title	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_short	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_fullStr	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_full_unstemmed	Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
title_sort	towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
publishDate	2013
url	http://irep.iium.edu.my/31676/ http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf http://irep.iium.edu.my/31676/4/icom13.pdf
first_indexed	2023-09-18T20:45:49Z
last_indexed	2023-09-18T20:45:49Z
_version_	1777409667747545088

Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair

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