Assisting Unit of Standard Wheelchairs by Using Internal Model Control

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The study is focused on the design and testing of a newly assisting unit of standard wheelchairs for hemiplegia person. People with the type of disability often drive standard wheelchairs one active hand and foot in the present situation. Conventional single side driven non-powered wheelchairs have various types of problems, e.g., large rotation radius, difficulty of operations.The purpose of this study is to solve these problems of current single side driven wheelchairs by using internal model control (IMC) design structure from technology of independence point of view. The control method by combining the IMC design with limiting properties of LQ control is implemented to a mass-spring system. Robust stability for parameter perturbation is also discussed in theoretically.The other hand, all stabilizing controller with limiting properties of LQ control are also discussed in this study. The proposed stabilizing controller has disturbance decoupling properties which is the same as internal model, control and can reduce influence of disturbance added to system for multiplier effects by using limiting properties of LQ control.The assisting unit of standard wheelchair is evaluated by experiments. The results show that the method is effective on tracking control for constructing the single side driven wheelchair.