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

Detalhes bibliográficos
Autor(a) principal: Rossini, F. L.
Data de Publicação: 2015
Outros Autores: Gaino, R., Teixeira, M. C.M. [UNESP], Assunção, E. [UNESP], Cardim, R. [UNESP], Covacic, M. R.
Tipo de documento: Artigo
Idioma: por
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1109/TLA.2015.7111985
http://hdl.handle.net/11449/167854
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.
id UNSP_3c0c9507d6fc7481106d86b3617ca35f
oai_identifier_str oai:repositorio.unesp.br:11449/167854
network_acronym_str UNSP
network_name_str Repositório Institucional da UNESP
repository_id_str 2946
spelling Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback outputControl LoopDecoupling of SystemsLMIRobust controllerWheelchair FurnitureThis 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.Universidade Tecnológica Federal Do Paraná (UTFPR), Campo MourãoUniversidade Estadual de Londrina (UEL)Universidade Estadual Paulista Júlio de Mesquita Filho (UNESP), Ilha SolteiraUniversidade Estadual Paulista Júlio de Mesquita Filho (UNESP), Ilha SolteiraUniversidade Tecnológica Federal Do Paraná (UTFPR), Campo MourãoUniversidade Estadual de Londrina (UEL)Universidade Estadual Paulista (Unesp)Rossini, F. L.Gaino, R.Teixeira, M. C.M. [UNESP]Assunção, E. [UNESP]Cardim, R. [UNESP]Covacic, M. R.2018-12-11T16:38:36Z2018-12-11T16:38:36Z2015-05-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article1321-1330application/pdfhttp://dx.doi.org/10.1109/TLA.2015.7111985IEEE Latin America Transactions, v. 13, n. 5, p. 1321-1330, 2015.1548-0992http://hdl.handle.net/11449/16785410.1109/TLA.2015.71119852-s2.0-849306853772-s2.0-84930685377.pdf50620873805714620000-0002-1072-3814Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPporIEEE Latin America Transactions0,253info:eu-repo/semantics/openAccess2023-11-03T06:06:44Zoai:repositorio.unesp.br:11449/167854Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462023-11-03T06:06:44Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
title Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
spellingShingle Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
Rossini, F. L.
Control Loop
Decoupling of Systems
LMI
Robust controller
Wheelchair Furniture
title_short Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
title_full Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
title_fullStr Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
title_full_unstemmed Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
title_sort Robust controller design of a wheelchair mobile via LMI approach to ERP systems with feedback output
author Rossini, F. L.
author_facet Rossini, F. L.
Gaino, R.
Teixeira, M. C.M. [UNESP]
Assunção, E. [UNESP]
Cardim, R. [UNESP]
Covacic, M. R.
author_role author
author2 Gaino, R.
Teixeira, M. C.M. [UNESP]
Assunção, E. [UNESP]
Cardim, R. [UNESP]
Covacic, M. R.
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade Tecnológica Federal Do Paraná (UTFPR), Campo Mourão
Universidade Estadual de Londrina (UEL)
Universidade Estadual Paulista (Unesp)
dc.contributor.author.fl_str_mv Rossini, F. L.
Gaino, R.
Teixeira, M. C.M. [UNESP]
Assunção, E. [UNESP]
Cardim, R. [UNESP]
Covacic, M. R.
dc.subject.por.fl_str_mv Control Loop
Decoupling of Systems
LMI
Robust controller
Wheelchair Furniture
topic Control Loop
Decoupling of Systems
LMI
Robust controller
Wheelchair Furniture
description 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.
publishDate 2015
dc.date.none.fl_str_mv 2015-05-01
2018-12-11T16:38:36Z
2018-12-11T16:38:36Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1109/TLA.2015.7111985
IEEE Latin America Transactions, v. 13, n. 5, p. 1321-1330, 2015.
1548-0992
http://hdl.handle.net/11449/167854
10.1109/TLA.2015.7111985
2-s2.0-84930685377
2-s2.0-84930685377.pdf
5062087380571462
0000-0002-1072-3814
url http://dx.doi.org/10.1109/TLA.2015.7111985
http://hdl.handle.net/11449/167854
identifier_str_mv IEEE Latin America Transactions, v. 13, n. 5, p. 1321-1330, 2015.
1548-0992
10.1109/TLA.2015.7111985
2-s2.0-84930685377
2-s2.0-84930685377.pdf
5062087380571462
0000-0002-1072-3814
dc.language.iso.fl_str_mv por
language por
dc.relation.none.fl_str_mv IEEE Latin America Transactions
0,253
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 1321-1330
application/pdf
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
_version_ 1799964799132499968

Registros relacionados