Novel optimal cross-coupling control for the power wheelchair with rim motor

In this study, an optimal cross-coupling control (OCCC) strategy was applied to a rim motor wheelchair, with the aim of adjusting the speed ratio of the left and right wheels in order to follow specified paths with various turning radius. The control strategy concept enabled the left and right motors to adjust the speed most quickly within the equal time to reach the speed ratios of the two motors. Thus, the speed compensation values of the two wheels could be designed to be equal. The measured results showed that this method could maintain a vehicle on the desired driving path under different environmental disturbances, thus increasing the safety level in different environments. As compared to the traditional cross-coupling controller, this approach could reduce errors in the reference speed and time to reach the reference speed, minimize path deviations, and improve the operational performance of rim motor wheelchairs.