2022
DOI: 10.1088/1742-6596/2224/1/012098
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Control of a Semi-autonomous Powered Wheelchair

Abstract: A model reference controller for a powered wheelchair is described. The chair is fitted with sensor systems to assist a disabled user with steering their chair. The controller can cope with varying circumstances and situations. Non-linear terms are compensated for using an adaptive and automatic scheme. Consistent and dependable veer-controll is considered and the system was able to deal with uncertainties, for example changing surfaces, different shifting weights of users, hills, bumps, slopes and differences… Show more

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