Modern control approach for robotic wheelchair with inverse pendulum control

We are proposing a robotic wheelchair that enables a wheelchair bound person to climb over steps up to about 8 cm in height without assistance from others. By using the proposed robotic wheelchair, a user can maintain inverse pendulum control after raising its front wheels. Then, a user can move forward to the step maintaining the inverse pendulum control, and can climb over the step using motor force of a rear wheel shaft. This paper described the control system designs and simulations of the inverse pendulum control. An observer based optimal control (LQG or H₂) with an integral action is discussed in order to obtain better control performances for the inverse pendulum control.