This paper presents a torque observer designed using the Lyapunov stability theorem and a dynamic power assisted wheelchair constructed using Lagrangian's equation. This proposed method can be used to accurately control and estimate the impact torque of the power assisted wheelchair. This novel observer design combines an adaptive observer and PI controller to accurately control the apparatus. The adaptive torque observer is used to estimate and predict the plant states. The PI controller is used to control and accelerate convergence with the trace targets. Experiments were conducted with the power assisted wheelchair to show that the proposed method has good performance and is suitable for power assisted wheelchair design. The proposed observer measurements were more accurate than that of the conventional load torque observer.
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