Simulink Model Based on the Theory of Electric Wheelchairs

Abstract

Considering an aging society, it is necessary to make the electric wheelchair safer and easy to drive. The one of the important technologies to realize it is the tracking control. The tracking performance is affected by the environmental circumstances and the wheelchair dimensions alike. Therefore, the theoretical SIMULINK Model of wheelchair is developed, which makes it possible to develop efficiently the tracking control considering the effect of the wheelchair dimensions. And through the simulation using this SIMULINK Model, it is clarified that the gravity center of the chair must be considered to develop the algorithm.