Articles | Volume 17, issue 2
https://doi.org/10.5194/ms-17-713-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-713-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
06 Jul 2026
Research article |
| 06 Jul 2026
| 06 Jul 2026
Hybrid nonlinear model predictive and linear quadratic balance control for a two-wheeled self-balancing wheelchair
Haomin Sun
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Xinying Zhang
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Yaozhi Gu
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Shuai Wang
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Weiyue Chen
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Shuyue Zhang
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Tianyu Xu
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Hongliu Yu
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Institute of Intelligent Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, 200093, China
Latest update: 06 Jul 2026
Short summary
Self-balancing wheelchairs can help people move in tight spaces, but they must stay upright when starting from a large tilt, carrying different users, or facing sudden pushes. We developed and tested a two-stage control approach that first brings the chair back safely from larger tilts and then keeps it steady near upright. Simulations and prototype tests showed faster recovery, better stability under disturbances, and stronger tolerance to user-weight changes, supporting safer designs.
Self-balancing wheelchairs can help people move in tight spaces, but they must stay upright when...
