Development and comparison of the three most usual kind of control strategies for servo assisted motorization

The aim of this article is to compare three strategies for motorization control of a servo assisted wheelchair. A servo assisted wheelchair is new conception of a therapeutic wheelchair. The model used in this development is based on doubled bicycle model which driven force applied over the rear wheels and the steering over the front wheels. For this article three strategies were developed and simulated one “on-off” control, one rule control and a fuzzy control. The most appropriated strategy for the studied system was a rule control, because it has a best performance in terms of the system displacement.