Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems  

作　　者：WANG Jian WANG Ting YAO Chen LI XiaoFan WU ChengDong 

机构地区：[1]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences [2]University of Chinese Academy of Sciences [3]School of Information Science and Engineering, Northeastern University

出　　处：《Science China(Information Sciences)》2014年第11期203-217,共15页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China(Grant No.60805048)

摘　　要：The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with criteria to determine the pattern of the wheelchair robot proposed. Aiming at the complicated mechanism of WT wheelchair robot with holonomic constraints and combining it with the dynamic programming, namely the Hamilton-Jacobi equation, a new control law called active tension optimal control is presented for holonomic or nonholonomic robotic systems, based on which one can make the wheelchair robot with a holonomic or nonholonomic mechanism track the expected reference input of constraint forces of holonomic or nonholinomic constraints as well as track the expected reference input of the generalized coordinate of each joint. The module STATEFLOW in MATLAB is used to simulate the entire stair-climbing process of WT wheelchair robot, and comparison is made between the output curves of each joint and the tension of the track and the expected reference input curves, which verifies the effectiveness of the proposed control law.The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with criteria to determine the pattern of the wheelchair robot proposed. Aiming at the complicated mechanism of WT wheelchair robot with holonomic constraints and combining it with the dynamic programming, namely the Hamilton-Jacobi equation, a new control law called active tension optimal control is presented for holonomic or nonholonomic robotic systems, based on which one can make the wheelchair robot with a holonomic or nonholonomic mechanism track the expected reference input of constraint forces of holonomic or nonholinomic constraints as well as track the expected reference input of the generalized coordinate of each joint. The module STATEFLOW in MATLAB is used to simulate the entire stair-climbing process of WT wheelchair robot, and comparison is made between the output curves of each joint and the tension of the track and the expected reference input curves, which verifies the effectiveness of the proposed control law.

关 键 词：wheelchair robot STAIR-CLIMBING holonomic or nonholonomic systems active tension optimal control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]