Citation

Ding D, Cooper RA. IEEE Contr. Syst. Mag. 2005; 25(2): 22-34.

Copyright

(Copyright © 2005, IEEE Control Systems Society, Institute of Electrical and Electronics Engineers)

DOI

10.1109/MCS.2005.1411382

PMID

unavailable

Abstract

Electric-powered wheelchairs (EPWs) provide functional mobility for people with both lower and upper extremity impairments. Currently, improvements in control techniques and algorithms for EPWs are needed to expand the population of people who can drive independently and to enhance driving safety. This review conveys the depth and breadth of the research conducted on EPW control technology as well as provides insights into future directions. Focus is on the concepts and previous work on velocity control, traction control, suspension control, stability control, stair-climbing wheelchairs, and wheelchair navigation.

Language: en

Keywords

Mathematical models; Algorithms; Sensors; Wheelchairs; Fuzzy sets; Optimal control systems; Traction (friction); Control system synthesis; Suspensions (components); System stability; Three term control systems; Two term control systems; Velocity control