Feedback Control and Simulation of a Wheelchair
- 1 June 1983
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 105 (2) , 96-100
- https://doi.org/10.1115/1.3149651
Abstract
This paper presents a wheelchair velocity feedback controller intended to reduce the control demands on a wheelchair driver in outdoor driving and in low speed maneuvering. A dynamic model of a wheelchair and its motor control circuitry is used in the controller design. A computer simulation study is conducted for the controller. The results indicate that the velocity feedback controller should make the chair easier to drive under varying road conditions.Keywords
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