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Wheelchairs used by disabled people or caregivers are typical human-in-the-loop systems, of which the power-assisted control in accordance to a human’s perception is essential. This paper presents a force sensorless control based on a force/torque observer with a motion coordinate transformation for power-assisted wheelchairs. The output linear movement and angular velocity motions of a power wheelchair...
This paper employs a PI observer to detect abnormal information in an auto-balancing two-wheeled cart caused by actuator faults and steering load torques. A fault diagnosis scheme which contains the strategies of both fault-detection and fault-evaluation is proposed in this paper. Analysis and design of the PI observer are then discussed in detail. A statistical threshold that has the benefits of...
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