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Conference Papers Year : 2020

Control of an automated wheelchair

Michael Gray
Thierry-Marie Guerra
Sebastien Delprat
Sami Mohammad
  • Function : Author


Due to the world’s aging population, the development of affordable and easy to use wheelchairs is becoming a priority. In this study, the control of an automated wheelchair is proposed. The model equations are derived from the Euler-Lagrange equations, then a descriptor model is formulated. Next, a Takagi-Sugeno descriptor model with a limited number of rules is derived. The control and observation of the model is studied using the delayed non-quadratic Lyapunov function. The closed loop stability is proven using the separation theorem. Lastly, simulation results are given and discussed.
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Dates and versions

hal-03406102 , version 1 (09-06-2022)


Attribution - NonCommercial - NoDerivatives - CC BY 4.0


  • HAL Id : hal-03406102 , version 1


Michael Gray, Thierry-Marie Guerra, Sebastien Delprat, Sami Mohammad. Control of an automated wheelchair. The proceedings of the 21th IFAC World Congress 2020, Jul 2020, Berlin, Germany. pp.7971-7976. ⟨hal-03406102⟩
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