Abstract
In this report, we proposed a method to control a power-assisted wheelchair. The controller has a wheelchair model at the horizontal smooth plane. When a operator give the force to move the wheelchair, the controller calculate the velocity of the wheelchair. If the velocity of real wheelchair is different to the model, the controller make the assist to make the velocity to the model's velocity. With this method, a operator can move the any place, e.g. rough terrain or inclined place, easily like at the horizontal place.
