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Novel Design and Lateral Stability Tracking Control of a Four-Wheeled Rollator
Guangdong Univ Technol, Coll Art & Design, Guangzhou 510000, Guangdong, Peoples R China..
Beijing Inst Technol, Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China..
Guangdong Univ Technol, Coll Art & Design, Guangzhou 510000, Guangdong, Peoples R China..
Politecn Milan, Dipartimento Elettron Informaz & Bioingn, I-20133 Milan, Italy..
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2019 (English)In: Applied Sciences, E-ISSN 2076-3417, Vol. 9, no 11, article id 2327Article in journal (Refereed) Published
Abstract [en]

Design and control of smart rollators have attracted increasing research interests in the past decades. To meet the requirements of the elderly or disabled users, this paper proposes a novel design and tracking control scheme for empowering and assisting natural human mobility with a four-wheeled rollator. Firstly, by integrating the advantages of Kano Model Analysis and the Theory of Inventive Problem Solving (TRIZ), we introduce a novel Kano-TRIZ industrial design method to design and optimize its mechanical structure. The demand and quality characteristics of the clinical rollator are analyzed according to the Kano model. The Quality Function Deployment (QFD) and TRIZ are adopted to integrate industrial product innovations and optimize the function configuration. Furthermore, a lateral stability controller based on Model Predictive Control (MPC) scheme is introduced to achieve good tracking control performance with the lateral deviation and the heading angle deviation. Finally, the feasibility of the design and control method is verified with a simulation study. The simulation results indicate that the proposed algorithm keeps the lateral position error in a reasonable range. In the co-simulation of ADAMS-MATLAB, the trajectory of the rollator is smooth with constrained position error within 0.1 m, the turning angle and speed can achieve stable tracking control within 5 s and the heading angle is accurate and the speed is stable. A compared experiment with MPC and SMC show that MPC controller has faster response, higher tracking accuracy and smoother trajectory on the novel designed rollator. With the increasing demand for rollators in the global market, the methodology proposed in this paper will attract more research and industry interests.

Place, publisher, year, edition, pages
MDPI , 2019. Vol. 9, no 11, article id 2327
Keywords [en]
Kano-TRIZ design theory, quality function deployment, four-wheeled rollator, model predictive control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-255451DOI: 10.3390/app9112327ISI: 000472641200155Scopus ID: 2-s2.0-85067260564OAI: oai:DiVA.org:kth-255451DiVA, id: diva2:1344296
Note

QC 20190820

Available from: 2019-08-20 Created: 2019-08-20 Last updated: 2019-08-20Bibliographically approved

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Zhang, Longbin

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