Hybrid nonlinear model predictive and linear quadratic balance control for a two-wheeled self-balancing wheelchair

Sun, Haomin; Zhang, Xinying; Gu, Yaozhi; Wang, Shuai; Chen, Weiyue; Zhang, Shuyue; Xu, Tianyu; Yu, Hongliu; Meng, Qiaoling

doi:10.5194/ms-17-713-2026

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.

https://doi.org/10.5194/ms-17-713-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 17, issue 2

Research article

|

06 Jul 2026

Research article |

| 06 Jul 2026

Hybrid nonlinear model predictive and linear quadratic balance control for a two-wheeled self-balancing wheelchair

Haomin Sun, Xinying Zhang, Yaozhi Gu, Shuai Wang, Weiyue Chen, Shuyue Zhang, Tianyu Xu, Hongliu Yu, and Qiaoling Meng

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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.