With the increased availability of powered wheelchairs,
Chapter , Problem 13.33(choose chapter or problem)
With the increased availability of powered wheelchairs, improved suspension designs are required for safety and comfort. One chair uses an active suspension like the one shown in Figure P13.33 for each driving wheel. An actuator exerts a force f between the tire and the vehicle. Assuming that the control algorithm is such that
\(f = −K_P(x_s − x_w) − K_D(\dot{x}_ s − \dot{x}_w)\)
derive the equations of motion of the system, neglecting the tire mass and tire damping.
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