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Updated: Jun 26, 2026

Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
Published on: February 5, 2020
Optimal path-following control of a smart powered wheelchair
Nghia Nguyen1, Hung T Nguyen, Steven Su
1Faculty of Engineering, University of Technology, Sydney, Broadway, NSW 2007, Australia. tnnguyen@eng.uts.edu.au
Abstract:
This paper proposes an optimal path-following control approach for a smart powered wheelchair. Lyapunov's second method is employed to find a stable position tracking control rule. To guarantee robust performance of this wheelchair system even under model uncertainties, an advanced robust tracking is utilised based on the combination of a systematic decoupling technique and a neural network design. A calibration procedure is adopted for the wheelchair system to improve positioning accuracy. After the calibration, the accuracy is improved significantly. Two real-time experimental results obtained from square tracking and door passing tasks confirm the performance of proposed approach.
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