A wheelchair (10) including at least one drive wheel (18) pivotally connected to unaestructura (12), comprising: a thrust ring (22) for receiving a first input force of a user a gear assembly (23) functionally connecting the thrust ring (22) with the drive wheel a motor (24) operatively associated with the gear assembly (23) to provide a second feed fuerzapara the wheelchair (10) a transducer (47) configured to output at least one signal indicative of the first input force, a sensor (74) configured to output at least one signal indicative of a movement of the drive wheel (18) yun controller electrically connected to the sensor (74) and the transducer (47) being configured controladorpara receive the output signal of the sensor (74) and the output signal of the transducer (47), characterized in that is elcontrolador configured to calculate a desired speed of the drive wheel using a map of controlque mimics a system with a specific inertia and drag prescribed by a combination of linealy Coulomb friction, compare the desired speed of the driving wheel calculated actual driving wheel speed ygenerar and issue a control signal to the motor (24) in order to reduce the error component between dichavelocidad desired drive wheel and said actual speed of the drive wheel.Una silla de ruedas (10) que incluye al menos una rueda motriz (18) conectada de modo giratorio a unaestructura (12), que comprende: un aro de empuje (22) para recibir una primera fuerza de entrada de un usuario un conjunto de engranajes (23) que conecta funcionalmente el aro de empuje (22) con la rueda motriz un motor (24) asociado funcionalmente con el conjunto de engranajes (23) para proporcionar una segunda fuerzapara alimentar la silla de ruedas (10) un transductor (47) configurado para emitir al menos una señal indicativa de la primera fuerza de entradaun sensor (74) configurado para emitir al menos una señal indicativa de un movimiento de la rueda motriz (18) yun controlador conectado eléctricamente al s
