relation: http://d-scholarship-dev.library.pitt.edu/15863/
title: Real-time model based electrical powered wheelchair control
creator: Wang, H
creator: Salatin, B
creator: Grindle, GG
creator: Ding, D
creator: Cooper, RA
description: The purpose of this study was to evaluate the effects of three different control methods on driving speed variation and wheel slip of an electric-powered wheelchair (EPW). A kinematic model as well as 3D dynamic model was developed to control the velocity and traction of the wheelchair. A smart wheelchair platform was designed and built with a computerized controller and encoders to record wheel speeds and to detect the slip. A model based, a proportional-integral-derivative (PID) and an open-loop controller were applied with the EPW driving on four different surfaces at three specified speeds. The speed errors, variation, rise time, settling time and slip coefficient were calculated and compared for a speed step-response input. Experimental results showed that model based control performed best on all surfaces across the speeds.
date: 2009-12-01
type: Article
type: PeerReviewed
format: text/plain
language: en
rights: attached
identifier: http://d-scholarship-dev.library.pitt.edu/15863/1/licence.txt
identifier:   Wang, H and Salatin, B and Grindle, GG and Ding, D and Cooper, RA  (2009) Real-time model based electrical powered wheelchair control.  Medical Engineering and Physics, 31 (10).  1244 - 1254.  ISSN 1350-4533     
relation: 10.1016/j.medengphy.2009.08.002