An approach to robust velocity control of two-wheel wheelchair

Sho Amagai, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Two-wheel wheelchairs have advantages over conventional four-wheel wheelchairs in terms of mobility and ability of going over steps. However, two-wheel wheelchairs are unstable system, and the body of the wheelchairs must be stabilized. In the conventional method, stabilization control was achieved, but the only stability of the body has been considered and the motion of the wheel has not been controlled. In this paper, a robust wheel-velocity control is proposed in order to improve the stability and the operability of the two-wheel wheelchair. We realize both stabilization of the body and velocity tracking of the wheels using sliding mode control with disturbance observer. The validity of the proposed method is confirmed by some experimental results.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781509034741
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


Other42nd Conference of the Industrial Electronics Society, IECON 2016


  • Disturbance observer
  • Electric wheelchair
  • Sliding mode control
  • Stabilization
  • Underactuated system
  • Velocity control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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