Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair
This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increas...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/31676/ http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf http://irep.iium.edu.my/31676/4/icom13.pdf |
| _version_ | 1848780439430365184 |
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| author | Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah |
| author_facet | Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah |
| author_sort | Aula, Abqori |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled
Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system. |
| first_indexed | 2025-11-14T15:33:41Z |
| format | Proceeding Paper |
| id | iium-31676 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T15:33:41Z |
| publishDate | 2013 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-316762015-03-04T01:16:30Z http://irep.iium.edu.my/31676/ Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering This paper introduces the modeling and control design of a two-wheeled wheelchair (TWW) based on the structure-preserving port-Hamiltonian concept. In this paper, a model of TWW with features, including space-saving, four to two-wheel transformation, and adjustable seat height is proposed to increase mobility and independence of the user. Then, the mathematical model of the TWW in its balance mode is derived. The model is based on the total energy in the system. The system is divided into subsystems whereby the interconnections which exist are utilized. The nonlinearity of the model is preserved using the port-controlled Hamiltonian system (PCHS) and made to advantage. The proposed controller is designed based on the idea of PCH such that the energy balance in the system can be achieved while stabilizing the system. 2013 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf application/pdf en http://irep.iium.edu.my/31676/4/icom13.pdf Aula, Abqori and Akmeliawati, Rini and Ahmad, Salmiah (2013) Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair. In: 5th International Conference on Mechatronics (ICOM'13), 2 – 4 July, 2013,, Kuala Lumpur, Malaysia. (Unpublished) |
| spellingShingle | TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering Aula, Abqori Akmeliawati, Rini Ahmad, Salmiah Towards port-hamiltonian approach for modeling and control of two-wheeled wheelchair |
| title | Towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| title_full | Towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| title_fullStr | Towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| title_full_unstemmed | Towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| title_short | Towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| title_sort | towards port-hamiltonian approach for modeling and
control of two-wheeled wheelchair |
| topic | TA174 Engineering design TA329 Engineering mathematics. Engineering analysis TJ212 Control engineering |
| url | http://irep.iium.edu.my/31676/ http://irep.iium.edu.my/31676/1/%5BFull_Paper_ICOM%2713%5D_pch_submitted.pdf http://irep.iium.edu.my/31676/4/icom13.pdf |