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 in tires and wheels. The controller has a quasi-linear closed-loop behaviour and that means that extra outer control loops can be appended later, for example path-following algorithms. An assistive agent was also created so that sperate wheelchairs will be able to communicate with each other in the future.
Original language | English |
---|---|
Title of host publication | Journal of Physics: Conference Series |
Subtitle of host publication | 2021 2nd International Symposium on Automation, Information and Computing (ISAIC 2021) |
Publisher | IOP Publishing |
Number of pages | 6 |
Volume | 2224 |
Edition | 1 |
DOIs | |
Publication status | Published - 19 Apr 2022 |
Event | 2021 2nd International Symposium on Automation, Information and Computing, ISAIC 2021 - Virtual, Online Duration: 3 Dec 2021 → 6 Dec 2021 |
Publication series
Name | Journal of Physics: Conference Series |
---|---|
Publisher | IOP Publishing |
ISSN (Print) | 1742-6588 |
Conference
Conference | 2021 2nd International Symposium on Automation, Information and Computing, ISAIC 2021 |
---|---|
City | Virtual, Online |
Period | 3/12/21 → 6/12/21 |
Keywords
- UKRI
- EPSRC
Fingerprint
Dive into the research topics of 'Control of a semi-autonomous powered wheelchair'. Together they form a unique fingerprint.Prizes
-
Top two per cent of researchers in the world
Sanders, D. (Recipient), 2 Nov 0001
Prize: National/international honour