A control system for a powered wheelchair is described. The wheelchair is equipped with sensors to help a disabled user to steer their wheelchair. An innovative intelligent control schemes is presented. A model reference controller for veer regulation that can deal with variable operating conditions is presented. It is based on compensating the non-linear terms using an automatic adaptive scheme. The method specifically focuses on the design of a reliable veer controller capable of mitigating for uncertainties such as slopes, bumps, hills, differences in wheels and tires and changes to surfaces (for example one side more uneven than the other). The controller has been designed with a quasi-linear closed-loop behavior so that outer control loops can be added later such as path-following. A single powered wheelchair assistive agent was created to allow for future cooperation between wheelchair systems by sharing information. The work foresees the potential employment of semi-autonomous assistive agents within cooperative wheelchair systems.