Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems

Table 1

Parameters of WT Wheelchair Robot.

Structure (m)				Mass (kg)		Inertia (kg·m^2)
𝑙𝐵𝐸	0.37	𝑟𝐸	0.2	𝑚𝐸	15	𝐽𝐸	0.3
𝑙𝐴𝐵	0.94	𝑟𝐴,𝑟𝐵,𝑟𝐷	0.07	𝑚𝐵𝐸	2.5	𝐽𝐵𝐸	0.03
𝑙𝐶𝐷	0.53	𝑟𝐹,𝑟𝐺	0.04	𝑚𝐴𝐵	55	𝐽𝐴𝐵	6
𝑙𝐴𝐹	0.31	𝐿	3.65	𝑚𝐶𝐷	3	𝐽𝐶𝐷	0.04
𝑙𝐴𝐶	0.69