@inproceedings{edde67600a514144a68198308e3fb783,
title = "Multibody Dynamics Modeling and Control of Wheelchair Balancing System",
abstract = "An electric wheelchair has the potential to increase the mobility of people with disabilities. The purpose of this study is to obtain the dynamic model and control of the self-balancing wheelchair. Based on the wheeled inverted pendulum principle, a state-feedback control is designed to stabilize the wheelchair in the upright position. Simscape Multibody is used to model and simulate the system dynamics. An obstacle on the ground and different slope angles are used to evaluate the control system's performance. Two types of controller namely LQR and LQR-PID are studied. Among the two controllers, LQR-PID controller exhibits better performance. LQR-PID controller is able to maintain the wheelchair at the equilibrium point (zero points) better than using the LQR controller.",
keywords = "Balancing system, LQR, LQR-PID, Multi-body modeling, Self-balancing, State-feedback, Wheelchair",
author = "Sokmengkeang Doung and Unggul Wasiwitono",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Seminar on Intelligent Technology and Its Application, ISITIA 2021 ; Conference date: 21-07-2021 Through 22-07-2021",
year = "2021",
month = jul,
day = "21",
doi = "10.1109/ISITIA52817.2021.9502215",
language = "English",
series = "Proceedings - 2021 International Seminar on Intelligent Technology and Its Application: Intelligent Systems for the New Normal Era, ISITIA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "123--128",
booktitle = "Proceedings - 2021 International Seminar on Intelligent Technology and Its Application",
address = "United States",
}