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

<table>Curve of the independent generalized coordinate <svg height="12.7" id="M235" style="vertical-align:-3.9858pt" version="1.1" viewbox="0 0 14.8 12.7" width="14.8" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> and that of its reference input <svg height="12.85" id="M236" style="vertical-align:-4.10045pt" version="1.1" viewbox="0 0 21.4125 12.85" width="21.4125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>.</table>

Mathematical Problems in Engineering

fig11

Figure 11

Figure 11: Active Tension Control for WT Wheelchair Robot by Using a Novel Control Law for Holonomic or Nonholonomic Systems 