Robust controller design of a wheelchair mobile via LMI approach to SPR systems with feedback output

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dc.contributor.authorRossini, F. L.
dc.contributor.authorGaino, R.
dc.contributor.authorTeixeira, M. C. M. [UNESP]
dc.contributor.authorAssunção, E. [UNESP]
dc.contributor.authorCardim, R. [UNESP]
dc.contributor.authorCovacic, M. R.
dc.contributor.institutionUniversidade Tecnológica Federal do Paraná (UTFPR)
dc.contributor.institutionUniversidade Estadual de Londrina (UEL)
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2015-10-22T06:48:15Z
dc.date.available2015-10-22T06:48:15Z
dc.date.issued2015-05-01
dc.description.abstractThis 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.en
dc.description.affiliationUniversidade Tecnológica Federal do Paraná (UTFPR), Campo Mourão, Paraná, Brasil
dc.description.affiliationUniversidade Estadual de Londrina (UEL), Londrina, Paraná, Brasil
dc.description.affiliationUnespUniversidade Estadual Paulista “Júlio de Mesquita Filho” (UNESP), Ilha Solteira, São Paulo, Brasil
dc.format.extent1321-1330
dc.identifierhttp://www.ewh.ieee.org/reg/9/etrans/ieee/issues/vol13/vol13issue5May2015/13TLA5_12Rossini.pdf
dc.identifier.citationIeee Latin America Transactions. Piscataway: Ieee-inst Electrical Electronics Engineers Inc, v. 13, n. 5, p. 1321-1330, 2015.
dc.identifier.issn1548-0992
dc.identifier.lattes5062087380571462
dc.identifier.orcid0000-0002-1072-3814
dc.identifier.urihttp://hdl.handle.net/11449/129777
dc.identifier.wosWOS:000355213400011
dc.language.isopor
dc.publisherIeee-inst Electrical Electronics Engineers Inc
dc.relation.ispartofIeee Latin America Transactions
dc.relation.ispartofjcr0.502
dc.relation.ispartofsjr0,253
dc.rights.accessRightsAcesso restrito
dc.sourceWeb of Science
dc.subjectRobust controlleren
dc.subjectWheelchair furnitureen
dc.subjectDecoupling of systemsen
dc.subjectControl loopen
dc.subjectLMIen
dc.titleRobust controller design of a wheelchair mobile via LMI approach to SPR systems with feedback outputen
dc.typeArtigo
dcterms.licensehttp://www.ieee.org/publications_standards/publications/rights/rights_policies.html
dcterms.rightsHolderIeee-inst Electrical Electronics Engineers Inc
unesp.author.lattes5062087380571462[5]
unesp.author.orcid0000-0002-1072-3814[5]

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