Open AccessControl of a Semi-autonomous Powered Wheelchair
Author(s) -
David Sanders,
Giles Tewkesbury,
Malik Haddad,
Peter Kyberd,
Shikun Zhou,
Martin Langner
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2224/1/012098
Subject(s) - wheelchair , controller (irrigation) , scheme (mathematics) , computer science , path (computing) , control theory (sociology) , control (management) , control engineering , closed loop , manual wheelchair , simulation , engineering , artificial intelligence , mathematics , mathematical analysis , world wide web , agronomy , biology , programming language
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.