Control of a semi-autonomous powered wheelchair

D. Sanders*, G. Tewkesbury, M. Haddad, P. Kyberd, S. Zhou, M. Langner

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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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 languageEnglish
Title of host publicationJournal of Physics: Conference Series
Subtitle of host publication2021 2nd International Symposium on Automation, Information and Computing (ISAIC 2021)
PublisherIOP Publishing
Number of pages6
Publication statusPublished - 19 Apr 2022
Event2021 2nd International Symposium on Automation, Information and Computing, ISAIC 2021 - Virtual, Online
Duration: 3 Dec 20216 Dec 2021

Publication series

NameJournal of Physics: Conference Series
PublisherIOP Publishing
ISSN (Print)1742-6588


Conference2021 2nd International Symposium on Automation, Information and Computing, ISAIC 2021
CityVirtual, Online


  • UKRI


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