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This paper describes a model reference controller for a powered wheelchair. The wheelchair was equipped with sensors to help a disabled user to steer their wheelchair. The controller could deal with variable operating conditions. It was based on compensating non-linear terms using an automatic adaptive scheme. The method specifically focuses on reliable veer control capable of mitigating uncertainties such as slopes, bumps, hills, differences in wheels and tires and changes to surfaces. The controller was designed with a quasi-linear closed-loop behaviour so that outer control loops could be added later, such as for path-following. A single wheelchair assistive agent was created to allow for future cooperation between systems.
|Number of pages||6|
|Journal||Journal of Physics: Conference Series|
|Publication status||Accepted for publication - 1 Nov 2021|
|Event||2nd International Symposium on Automation, Information and Computing 2021 - China, Beijing , China|
Duration: 3 Dec 2021 → 6 Dec 2021
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