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CONTROL OF TWO-WHEEL MOBILE PLATFORM WITH APPLICATION TO POWER
WHEELCHAIRS
by
Byungchan Jung
A Dissertation Presented to the
FACULTY OF THE USC GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(MECHANICAL ENGINEERING)
August 2012
Copyright 2012 Byungchan Jung
Object Description
| Title | Control of two-wheel mobile platform with application to power wheelchairs |
| Author | Jung, Byungchan |
| Author email | bjung@usc.edu;bcjung@gmail.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Mechanical Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2012-05-01 |
| Date submitted | 2012-06-22 |
| Date approved | 2012-06-22 |
| Restricted until | 2012-06-22 |
| Date published | 2012-06-22 |
| Advisor (committee chair) | Flashner, Henryk |
| Advisor (committee member) |
Shiflett, Geoffrey R. Yang, Bingen (Ben) McNitt-Gray, Jill L. |
| Abstract | Modeling of two-wheel mobile platform, backstepping based controller design and hardware/software implementation are presented. ❧ Models with non-slipping and slipping are investigated. In the non-slipping case, nonholonomic constraints (no lateral motion and pure rolling) are embedded into the equations of motion. In addition to nonholonomic constraint, Lugre friction model is adopted to represent dynamic friction. ❧ Two backstepping based tracking controllers are developed for non-slipping dynamic model. Regular backstepping controller and backstepping controller combined with robust term to deal with varying parameters are designed. Lyapunov’s stability theory is used to verify the stability of designed controller. ❧ For slipping case, backstepping based controller and sliding mode combined backstepping controller are developed. Stability of both controllers are verified by Lyapunov’s stability theory. In addition to tracking capability, point stabilization is achieved in specific destination postures. Extensive simulation and visualization shows effectiveness of proposed controllers. ❧ Bezier curve combined with cubic spline velocity profile is considered for trajectory generation. Numerical integration approach for arc length parameterization is adopted to control segment length in Bezier curve. Curvature is also included into trajectory generation to adjust acceleration and deceleration for riding comfort and safety. ❧ Mobile platform based on commercial power wheelchair is implemented. Hardware components (Real-time controllers, Sensors, Power modules, Network devices) and software components (MATALB, SIMULINK, LabVIEW) are integrated and functions such as remote control, monitoring in the host PC are developed. Proposed controllers are implemented on the real-time controller and extensive test was conducted. |
| Keyword | two-wheel mobile platform; dynamic friction; backstepping; sliding mode; xpc target |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Provenance | Electronically uploaded by the author |
| Type | texts |
| Legacy record ID | usctheses-m |
| Contributing entity | University of Southern California |
| Rights | Jung, Byungchan |
| Physical access | The author retains rights to his/her dissertation, thesis or other graduate work according to U.S. copyright law. Electronic access is being provided by the USC Libraries in agreement with the author, as the original true and official version of the work, but does not grant the reader permission to use the work if the desired use is covered by copyright. It is the author, as rights holder, who must provide use permission if such use is covered by copyright. The original signature page accompanying the original submission of the work to the USC Libraries is retained by the USC Libraries and a copy of it may be obtained by authorized requesters contacting the repository e-mail address given. |
| Repository name | University of Southern California Digital Library |
| Repository address | USC Digital Library, University of Southern California, University Park Campus MC 7002, 106 University Village, Los Angeles, California 90089-7002, USA |
| Repository email | cisadmin@dots.usc.edu |
| Archival file | uscthesesreloadpub_Volume4/etd-JungByungc-901.pdf |
Description
| Title | Page 1 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@dots.usc.edu |
| Full text | CONTROL OF TWO-WHEEL MOBILE PLATFORM WITH APPLICATION TO POWER WHEELCHAIRS by Byungchan Jung A Dissertation Presented to the FACULTY OF THE USC GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (MECHANICAL ENGINEERING) August 2012 Copyright 2012 Byungchan Jung |
