Integrated synchronized motion control for a force sensorless power-assisted wheelchair

Po Wen Hsueh, Mi Ching Tsai, Hung Ting Pan, Albane Grandjean

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

5 Citations (Scopus)

Abstract

A power-assisted wheelchair driven by dual electric-motors is required to operate on rough roads properly, where the right and left wheels encounter disturbances independently. This paper presents a synchronized motion control scheme which integrates the force sensorless controller such that the movement of the power-assisted wheelchair can maintain a desired motion path on rough surfaces. The dynamic behavior of a dual-drive power wheelchair is employed to analyze its synchronized motion error, and a torque observer is adopted to develop a force sensorless control system. Experiments are given to verify the control performance of the synchronized motion control of the proposed power-assisted control system.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages5956-5961
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - 2011 Jan 1

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Integrated synchronized motion control for a force sensorless power-assisted wheelchair'. Together they form a unique fingerprint.

  • Cite this

    Hsueh, P. W., Tsai, M. C., Pan, H. T., & Grandjean, A. (2011). Integrated synchronized motion control for a force sensorless power-assisted wheelchair. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 5956-5961). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.01769