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    Rejection of yaw disturbance in a two-wheeled wheelchair system

    Rejection of yaw disturbance in a two-wheeled wheelchair system by Ahmad, Salmiah, Tokhi, M. Osman, Hussain, Zakaria

    Published 2009
    “…Theoretically, when the two big wheels are fed by the same torque, the WC system will only move in one (x-) direction (with a small forward and backward movement before settlement is achieved). …”
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