@inproceedings{59c9d68e0e8d403f9a78bdd8b63276c4,
title = "Integrated synchronized motion control for a force sensorless power-assisted wheelchair",
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.",
author = "Hsueh, \{Po Wen\} and Tsai, \{Mi Ching\} and Pan, \{Hung Ting\} and Albane Grandjean",
note = "Funding Information: This work was supported by National Science Council (NSC) of Taiwan, under project NSC 99-2221-E-006-041-MY3.",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.01769",
language = "English",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "5956--5961",
booktitle = "Proceedings of the 18th IFAC World Congress",
address = "Austria",
edition = "1 PART 1",
}