A wheelchair is a highly-popularized welfare device; however, it has two problems. One is low mobility, and the other is the difficulty faced while going over bumps. These problems are caused by the front casters. Recently, a two-wheel driven wheelchair with no casters was proposed. The aim of this research is to achieve the multifunctional control of the two-wheel driven wheelchair. In particular, this research focuses on the process of getting on and off and trajectory tracking control. Uprising and landing control are proposed in order to achieve the getting on and off motions efficiently. In addition, a variable command generation is proposed to improve comfort of a passenger. Furthermore, robust trajectory tracking control of the two-wheel driven wheelchair is proposed. The comfort of the passenger is improved by applying the proposed approaches.
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