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This paper presents a torque observer design, which can be used to accurately control and estimate impact torque of the power assisted wheelchair. This novel observer design is to combine an adaptive observer and PI controller to accurately control the apparatus. The adaptive observer is used to estimate and predict the states of plant, and the PI controller is used to control and accelerate convergence with targets of the trace. This design is experimented to the power assisted wheelchair to show that the proposed method has good performances and is suitable for power assisted wheelchair design. Especially, the measurement of the proposed observer is more accurate than that of the conventional load torque observer.