State-Space Modeling of an EPW in Discrete Time and an Observer Design for State Variable Estimation

Abstract

The purpose of this study is to obtain the dynamic model of an electrical powered wheelchair and to estimate the state variables of right and left DC motor currents with the designed observer. First, the dynamic equations are written and then discrete-time state space model of the electrical powered wheelchair is directly obtained from this dynamic equations. Discrete time state space model of the electrical powered wheelchair is verified with the transfer function obtained using the dynamic equations. In addition, the accuracy of the estimated left and right DC motor current values are validated in the simulation results.