Application of Human Friendly Motion Control to Power Assist Wheelchair
نویسندگان
چکیده
Novel feedback control which is designed in human-friendly way is applied to power assist wheelchair. It provides this three-dimensional control of a wheelchair taking the operation situation into considerations; wheelchair needs controlling in the three dimensions: the longitudinal direction, the lateral direction, and the pitch direction. To this end, three assist controls are suggested: disturbance attenuation control is designed for the longitudinal and lateral directions and tip-over preventing control is designed for the pitch direction. These controls for three directions are combined appropriately. All these control designs are demonstrated and verified.
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