@inproceedings{ad260352fcf24aa8b4ceca1252e08a07,
title = "Dynamic modeling and control design for a self-balancing two-wheel chair",
abstract = "The self-balancing two-wheel chair (SBC) is an unconventional type of personal transportation vehicle. It has unstable dynamics and therefore requires a special control to stabilize and prevent it from falling and to ensure the possibility of speed control and steering by the rider. This paper discusses the dynamic modeling and controller design for the system. The model of SBC is based on analysis of the motions of the inverted pendulum on a mobile base complemented with equations of the wheel motion and motor dynamics. The proposed control design involves a multi-loop PID control. Experimental verification and prototype implementation are discussed.",
author = "Mohammad Alqudah and Mustafa Abdelfattah and Igor Boiko and Khalid Alhammadi",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 5th International Conference on Electronic Devices, Systems and Applications, ICEDSA 2016 ; Conference date: 06-12-2016 Through 08-12-2016",
year = "2017",
month = jan,
day = "13",
doi = "10.1109/ICEDSA.2016.7818556",
language = "British English",
series = "International Conference on Electronic Devices, Systems, and Applications",
publisher = "IEEE Computer Society",
booktitle = "2016 5th International Conference on Electronic Devices, Systems and Applications, ICEDSA 2016",
address = "United States",
}