ICONS 2019 Paper Abstract


Paper WeBSP.3

Feng, Guoxi (Univ Of Valenciennes Hainaut-Cambresis), Guerra, Thierry Marie (Univ Of Valenciennes Hainaut-Cambresis), Nguyen, Anh-Tu (LAMIH UMR CNRS 8201, University of Valenciennes), Busoniu, Lucian (Technical University of Cluj-Napoca), Mohammad, Sami (Université de Valenciennes et du Hainaut-Cambrésis, LAMIH, FRE C)

Robust Observer-Based Tracking Control Design for Power-Assisted Wheelchairs

Scheduled for presentation during the Invited Session "Recent advances in fuzzy model-based design: theory and applications" (WeBSP), Wednesday, August 21, 2019, 16:00−16:20,

5th IFAC International Conference on Intelligent Control and Automation Sciences, August 21-23, 2019, Queen’s University Belfast, Northern Ireland

This information is tentative and subject to change. Compiled on October 16, 2021

Keywords Controllers and observers design, Robust control, Stability / stabilization analysis


Power-assisted wheelchairs (PAW) are efficient means of transportation for disabled persons. The resulting human-machine system includes several unknown parameters such as the mass of the user or ground adhesion. Moreover, the torque signals produced by the human are required to design a robust assistive strategy, but measuring them with torque sensors increases significantly the cost of the system. Therefore, we propose a robust observer-based assistive controller using a polytopic representation. The closed-loop control design is composed of two elements: a state feedback controller with the full state at the input, and an unknown input observer to estimate human torques and feed them into the obtained controller. The goal is to guarantee an imposed H_∞ estimation performance while achieving reference tracking. To achieve the predefined performance, the observer gains are computed by solving an LMI problem. Finally, simulation results validate the control design. The methodology follows patent WO2015173094 issued in 2015 (Mohammad et al. 2015).


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