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Mathematical Problems in Engineering
Volume 2013, Article ID 236515, 12 pages
Research Article

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

1State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2University of Chinese Academy of Sciences, Beijing 100039, China
3School of Information Science and Engineering, Northeastern University, Shenyang 110819, China

Received 8 April 2013; Revised 15 July 2013; Accepted 15 July 2013

Academic Editor: Hamid Reza Karimi

Copyright © 2013 Jian Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Interactional characteristics between WT wheelchair robot and stair environment are analyzed, and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with the criteria of the wheelchair robot for determining the pattern proposed. Aiming at WT wheelchair robot's complicated mechanism with holonomic constraints and combined with the computed torque method, a novel control law that is called active tension control is presented for holonomic or nonholonomic robotic systems, by which the wheelchair robot with a holonomic or nonholonomic mechanism can track the reference input of the constraint forces of holonomic or nonholonomic constraints as well as tracking the reference input of the generalized coordinate of each joint. A stateflow module of Matlab is used to simulate the entire stair-climbing process for WT wheelchair robot. A comparison of output curve with the reference input curve of each joint is made, with the effectiveness of the presented control law verified.