Dynamic Model-Based Adaptive Posture Controller for Robotic WheeIchairs

A novel adaptive posture control for robotic wheelchairs was designed using feedback linearization techniques and Lyapunov theory. It is novel in that it uses a dynamic model of the mobile robot in the posture-control law. A Switching control that changes the parameter-updating law is used to improve the adaptive control to avoid the effects of parameter drift. Experimental results show good performance of this adaptive posture control.

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