Intelligent control of a semi-autonomous Assistive Vehicle

David Sanders, Giles Tewkesbury, Malik Haddad, Zoubir Zouaoui, Sarinova Simandjuntak, Boriana Vatchova

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

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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.

Original languageEnglish
Title of host publicationIntelligent Systems and Applications
Subtitle of host publicationProceedings of the 2021 Intelligent Systems Conference (IntelliSys) Volume 1
EditorsKohei Arai
Number of pages9
ISBN (Electronic)9783030821937
ISBN (Print)9783030821920
Publication statusPublished - 4 Aug 2021
EventIntelliSys 2021 - Amsterdam, Netherlands
Duration: 2 Sept 20213 Sept 2021

Publication series

NameLecture Notes in Networks and Systems
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


ConferenceIntelliSys 2021


  • Assistive
  • Autonomous
  • Control
  • Disabled
  • Vehicle
  • Wheelchair
  • UKRI


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