Disclosed is an actuator controller for closed-loop control of one of a plurality of seat and leg support position actuators of a wheelchair. The actuator controller comprises: a controller (70) which receives a desired actuator position signal from a communication bus of the wheelchair an actuator driver circuit (82) responsive to control signals from the controller (70) to drive the position actuator and a position sensor circuit (80) for receiving an actuator position signal. The controller (70) reads the actuator position signal and performs closed-loop control of the position actuator using the actuator driver circuit (82) based on the desired and read actuator position signals. The actuator controller further comprises an indicator to communicate sensor type data associated with the position sensor to the controller (70), which renders actuator position data from the actuator position signal.
