Efficiency of Robust Observer Design in Power-Assisted Wheelchair Applications
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Abstract
Unlike manual wheelchairs, power-assisted wheelchairs feature a unique design that allows users to combine their own propulsion with the assistive system. Recently, various studies have concentrated on the control systems for power-assisted wheelchairs. This paper introduces a 2 step control design utilizing a quasi Linear Parameter Varying (LPV) to tackle this complex control problem. The first step involves designing an observer for state and unknown input estimation. The next step proposes a controller to manage parameter including positive gains and input of the system. The control procedure is expressed as convex optimization problems with linear matrix inequality (LMI) constraints, efficiently solvable using standard numerical solvers. To validate the effectiveness of the solution, both simulations and real-time applications are performed. Both simulations and real-time experiment demonstrates that the proposed assistive control algorithm offers excellent maneuverability.