Model-based shared control approach for a power wheelchair driving assistance system using a force feedback joystick

Frontiers in Control Engineering

Control Engineering

Philippe Pudlo¹  Viet Thuan Nguyen¹  Chouki Sentouh²  Jean-Christophe Popieul² 

[1]Univ. Polytechnique Hauts-de-France, UMR 8201-LAMIH-Laboratoire d’Automatique de Mécanique et d’Informatique Industrielles et Humaines, Valenciennes, France

[2]Univ. Polytechnique Hauts-de-France, UMR 8201-LAMIH-Laboratoire d’Automatique de Mécanique et d’Informatique Industrielles et Humaines, Valenciennes, France

[3]INSA Hauts-de-France, Valenciennes, France

关键词: powered wheelchair;    assistance system;    haptic joystick;    optimal fuzzy control;    conflict management;   

DOI  :  10.3389/fcteg.2023.1058802

 received in 2022-09-30, accepted in 2023-01-23,  发布年份 2023

来源: Frontiers

【 摘 要 】

This paper presents a haptic-based assistance system (AS) for power wheelchair users designed using the model-based shared control approach. The idea is to combine robust control with a high-level driving supervisor in order to successfully share control authority between the wheelchair user and the assistance system. This shared control strategy is composed of two parts, namely an operational part and a tactical part. Through the haptic joystick interface, this assistance system aims to reduce user’s effort when manipulating the joystick, guide the user to avoid any potential collisions, and maintain the active participation of the user in driving the wheelchair. In the operational part, an optimal Takagi-Sugeno fuzzy control approach is proposed to deal with the time-varying user’s intention represented by his desired longitudinal and angular position errors and velocities and hand torques. The control design is formulated as an LMI optimization problem which can be easily solved with numerical solvers. Two unknown input observers for Takagi-Sugeno fuzzy model have been designed to estimate the user’s intention in order to generate an assistance torque via a haptic force feedback joystick. The control supervisor in the tactical part, aims to provide a decision-making signal which allows for the conflict management based on the user hand torque estimation. A specific algorithm has been developed to solve the conflict between the user’s desired actions and the suggestions from the assistance system to ensure the user remains the final decision-maker. Experimental results show the effectiveness and the validity of the proposed assistance system.

【 授权许可】

Unknown   
Copyright © 2023 Nguyen, Sentouh, Pudlo and Popieul.