Rejection of yaw disturbance in a two-wheeled wheelchair system

• Main Authors: Ahmad, Salmiah, Tokhi, M. Osman, Hussain, Zakaria
• Format: Conference or Workshop Item
• Language: English
• Published: 2009
• Subjects: TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/2050/1/569180039.pdf; http://irep.iium.edu.my/2050/; http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5072029&queryText%3DRejection+of+yaw+disturbance+in+a+two-wheeled+wheelchair+system%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchField%3DSearch+All

In this paper, a virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The goal is to have stable two-wheeled WC by transforming the two front wheels (caster) to the upright position. Th...