A stabilization control of two wheels driven wheelchair

The paper describes a stabilization control of two wheels driven wheelchair based on pitch angle disturbance observer (PADO). PADO makes it possible to stabilize the wheelchair motion and remove casters. This brings a sophisticated mobility of wheelchair because the casters are obstacle to realize step passage motion and so on. The proposed approach based on PADO is robust against disturbance of pitch angle direction and the more functional wheelchairs is expected in the developed system. The validity of the proposed method is confirmed by simulation and experiment.