A Comparative Study of Trajectory Tracking Control for an Autonomous Electric Wheelchair Based on Computed Torque Control and PID Control

Yıl 2018, Cilt: 11 Sayı: 2, 119 - 131, 31.08.2018

Ahmet Dumlu , Kağan Koray Ayten

https://doi.org/10.18185/erzifbed.382359

Cited By: 2

Öz

In this study, design,
analysis and real time trajectory tracking control of an autonomous electric
wheelchair (AEWC) has been performed. Firstly, the kinematic analysis of the
designed AEWC has been made and then dynamic analysis ofthe system have been
obtained by using the Lagrangian method. Different control methods have been
used in this study to improve the system's real-time trajectory tracking
performance. Firstly, the trajectory tracking control of the system is
performed by using PID control. Then, the model-based computed torque control
method that takes into account the full dynamic model of the AEWC has been used
in order to improve the trajectory tracking performance of the designed system.
According to the results obtained from the real-time trajectory tracking
experiments, the mathematical analysis made for the system proved to be correct
and especially the trajectory tracking control of the system has become more
robust by using the computed torque method.

Bir Otonom Elektrikli Tekerlekli Sandalyenin Yörünge Kontrolünde Hesaplamalı Tork Kontrol ve PID Kontrol Yöntemlerinin Karşılaştırılması

Öz

Bu çalışmada bir otonom
elektrikli tekerlekli sandalyenin (OETS) analizi, tasarımı ve gerçek zamanlı
yörünge takip kontrolü gerçekleştirilmiştir. Öncelikle tasarlanan OETS’ nin
kinematik analizi yapılmış ve ardından sistemin tam dinamik modeli Lagrangian
tekniğinden yararlanılarak elde edilmiştir. Sistemin gerçek zamanlı yörünge
izleme performansını artırabilmek için, bu çalışmada farklı kontrol
yöntemlerinden yararlanılmıştır. İlk olarak sistemin yörünge izleme kontrolü
PID kontrolü üzerinden gerçekleştirilmiştir. Ardından, sistemin yörünge izleme
performansını artırabilmek için OETS’ nin tam dinamik modelinin göz önüne
alındığı Model Tabanlı Hesaplamalı Tork Kontrol yönteminden yararlanılmıştır.
Yapılan gerçek zamanlı yörünge izleme performans deneylerinden elde edilen
sonuçlara göre, sistem için yapılan matematiksel analizlerin doğru olduğu
kanıtlanmış ve özellikle hesaplamalı tork yönteminin kullanılması ile sistemin
yörünge takip kontrolü güçlendirilmiştir.

Anahtar Kelimeler

Otonom Araçlar, Tork Kontrol, PID Kontrol, Yörünge Kontrol

Kaynakça

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