Robust controller design of a wheelchair mobile via LMI approach to SPR systems with feedback output
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Data
2015-05-01
Autores
Rossini, F. L.
Gaino, R.
Teixeira, M. C. M. [UNESP]
Assunção, E. [UNESP]
Cardim, R. [UNESP]
Covacic, M. R.
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Editor
Ieee-inst Electrical Electronics Engineers Inc
Resumo
This article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI), to obtain Strictly Positive Real (SPR) systems. The contributions of this work were the choice of a mathematical model for wheelchair: mobile with uncertainty about the position of the center of gravity (CG), the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties, the proposal of the control loop and control law with a specified decay rate.
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Palavras-chave
Robust controller, Wheelchair furniture, Decoupling of systems, Control loop, LMI
Como citar
Ieee Latin America Transactions. Piscataway: Ieee-inst Electrical Electronics Engineers Inc, v. 13, n. 5, p. 1321-1330, 2015.