In electric wheelchair system, forward movement is important for easy operation and safe driving under uneven or inclined road environment. To attain the required driving motion, two main control algorithms were used in the electric wheelchair;
1) longitudinal velocity control was adopted for forward movement
2) Rotational velocity control with DOB(Disturbance Observer) was utilized for robust yaw rate control to keep the electric wheelchair in a straight forward path.
In addition to straight forward driving, a proper velocity trajectory was also utilized to reduce the impact force when the wheelchair starts and stops