Model reference control for a powered wheelchair

David Sanders, Giles Tewkesbury, Peter Kyberd, Malik Haddad, Shikun Zhou, Martin Clifford Langner

Research output: Contribution to journalArticlepeer-review


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.
Original languageEnglish
Number of pages6
JournalJournal of Physics: Conference Series
Publication statusAccepted for publication - 1 Nov 2021
Event2nd International Symposium on Automation, Information and Computing 2021 - China, Beijing , China
Duration: 3 Dec 20216 Dec 2021


  • UKRI
  • EP/S005927/1


Dive into the research topics of 'Model reference control for a powered wheelchair'. Together they form a unique fingerprint.

Cite this