Observability and controllability of scooters

The observability and controllability of a scooter with a human pilot is examined with respect to directional changes. This model can be used to reduce the effects of outside disturbances on direction, and to examine the abilities of the user required to effectively drive a scooter. Scooters are common mobility devices used by people with physical impairments, or elderly people. Scooters use manual steering via a lever or handle-bar. A linearized model based on ground track kinematics, user characteristics, and environmental conditions was examined. This model was completely observable and controllable