Several kinematic and dynamic models of conventional motorized wheelchairs in the literature presume the wheelchair movement only on flat surfaces, disregarding the effects of gravitational forces and rolling friction. In addition, there are no many studies clearly describing how the dynamic properties of a conventional wheelchair and stair-climbing wheelchair with a track mechanism are formulated. However, the design of a good controller generally involves the formulation of a comprehensive wheelchair model. This work contributes to the modelling of the motorized wheelchair with hybrid locomotion systems (MWHLSs), which have wheel and track mechanisms to move the wheelchair, regarding the formulation of kinematic and dynamic models for each locomotion system, considering the effects of gravitational forces and rolling friction, on flat and inclined surfaces and climbing stairs. From the mathematical model for each locomotion system, the gearmotor torque control is used, since the torque provides smooth and precise driving. Thus, the open-loop and closed-loop control techniques, such as control Lyapunov function, Backstepping control, and Proportional-Integral-Derivative controller, are designed due to their well-known characteristics. The robustness analysis of these controllers, taking into account the occurrence of external disturbances, indicates which one best assists wheelchair users, providing a safer and more efficient navigation with the MWHLS.

文献中常规电动轮椅的几种运动学和动力学模型假设轮椅运动仅在平坦表面上进行，而忽略了重力和滚动摩擦的影响。另外，没有许多研究清楚地描述如何制定常规轮椅和具有履带机构的爬楼梯轮椅的动力学特性。但是，好的控制器的设计通常涉及到综合轮椅模型的制定。这项工作有助于对具有混合运动系统（MWHLS）的电动轮椅进行建模，该系统具有可移动轮椅的车轮和履带机构，考虑了各个运动系统的运动学和动力学模型，并考虑了重力和滚动的影响摩擦，在平坦和倾斜的表面以及攀爬楼梯上。根据每个运动系统的数学模型，使用齿轮电动机转矩控制，因为转矩可提供平稳而精确的驱动。因此，由于其众所周知的特性，因此设计了开环和闭环控制技术，例如控制李雅普诺夫函数，Backstepping控制和比例积分微分控制器。考虑到外部干扰的发生，对这些控制器进行的鲁棒性分析表明，哪一种最能帮助轮椅使用者，从而通过MWHLS提供更安全，更有效的导航。由于具有众所周知的特性，因此设计了开环和闭环控制技术，例如控制Lyapunov功能，Backstepping控制和比例积分微分控制器。考虑到外部干扰的发生，对这些控制器进行的鲁棒性分析表明，哪一种最能帮助轮椅使用者，从而通过MWHLS提供更安全，更有效的导航。由于具有众所周知的特性，因此设计了开环和闭环控制技术，例如控制Lyapunov功能，Backstepping控制和比例积分微分控制器。考虑到外部干扰的发生，对这些控制器进行的鲁棒性分析表明，哪一种最能帮助轮椅使用者，从而通过MWHLS提供更安全，更有效的导航。