Abstract
In this paper, a power-assisted wheelchair to support helpers is presented. The model reference control system is proposed such that the wheelchair comfortably moves at the ideal speed with helper's weak force, and H infinity controller is implemented in order to highly maintain the control quality regardless of the disturbance such as the variation of a passenger's mass or the slope of the road. The effectiveness of the proposed system is validated through various experiments such as the comparison with the PI controller, change of patient, the up-and down-slope, and the rotary motion.
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