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

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.

Kaynakça

  • Baruh, H. 1998. Analytical Dynamics 2nd ed., Mc Graw-Hill International Editions Series, New York, 260-350.
  • Boquete, L., García, R., Barea R., Mazo, M. 1999. Neural Control of the Movements of a Wheelchair. Journal of Intelligent and Robotic Systems, 25(3), 213-226.
  • Crespo, M.S. 2003. Intermediate Dynamics, Complemented with Simulation and Animations, Mc Graw-Hill International Editions Series, New York, 584.
  • Cruz, C.D., Bastos L.T.F., Carelli, R. 2011. Adaptive motion control law of a robotic wheelchair. Control Engineering Practice, (19), 113-125. Ding D., Cooper, R.A. 2005. Electric powered wheelchairs. IEEE Control Systems, 25(2), 22-34.
  • Fujii F., Wada, K. 2005. Analysis on the manual control characteristics of the human pilot during the operation of the powered wheelchair, Advanced Robotics, 19(2), 121-139.
  • Greenwood, D.T. 1987. Principles of Dynamics (2nd Edition). Prentice Hall, USA 552.
  • Johnson, B.W., Aylor, J.H. 1986. Reliability&Safety Analysis of a Fault-Tolerant Controller. IEEE Transactions on Reliability, 35(4), 355-362.
  • Kung, Y.S., Huang, P.H., Su, F.C., Chen, T.S. 2011. Realization of an FPGA-based Motion control system for electric standing wheelchairs. IEEE Symposium on Industrial Electronics and Applications, Langkawi, 47-52.
  • Lewis, F.L., Abdallah, C., Dawson D.M. 1993. Control of Robot Manipulators, Maxwell Macmillan Publishing Company, Oxford 424.
  • Nguyen, T.N., Su, S.W., Nguyen, H.T. 2011. Robust Neuro-Sliding Mode Multivariable Control Strategy for Powered Wheelchairs, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(1), 105-111.
  • Pasin, F. 1994. Mekanik Sistemler Dinamiği, İTU Rektörlüğü, Türkiye, 1540.
  • Peng, W., Lin, Z., Su, J. 2009. Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques. IET Control Theory & Applications, 3(6), 701-711.
  • Saadatzi, M.N., Poshtan, J., Saadatzi, M.H. 2011. Optimal multivariable two-degree-of-freedom control of electric wheelchair using non-dominated sorting genetic algorithm-II. IEEE International Conference on Control Applications (CCA), Denver Colorado, 376-381.
  • Sangdani, M.H., Tavakolpour-Saleh, A., Lotfavar, R.A. 2018. Genetic algorithm-based optimal computed torque control of a vision-based tracker robot: Simulation and experiment. Engineering Applications of Artificial Intelligence, (67), 24-38.
  • Shung, J.B., Tomizuka, M.M., Auslander, D.M., Stout, G.G. 1983. Feedback Control and Simulation of a Wheelchair. ASME. Journal of Dynamic Systems, Measurement and Control, 105(2), 96-100.
  • Yang, Y.L. Chao, P.C.P., Sung, C.K. 2009. Landing Posture Control for a Generalized Twin-Body System Using Methods of Input–Output Linearization and Computed Torque. IEEE/ASME Transactions on Mechatronics, 14(3), 326-336.

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

Yıl 2018, Cilt: 11 Sayı: 2, 119 - 131, 31.08.2018
https://doi.org/10.18185/erzifbed.382359

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.

Kaynakça

  • Baruh, H. 1998. Analytical Dynamics 2nd ed., Mc Graw-Hill International Editions Series, New York, 260-350.
  • Boquete, L., García, R., Barea R., Mazo, M. 1999. Neural Control of the Movements of a Wheelchair. Journal of Intelligent and Robotic Systems, 25(3), 213-226.
  • Crespo, M.S. 2003. Intermediate Dynamics, Complemented with Simulation and Animations, Mc Graw-Hill International Editions Series, New York, 584.
  • Cruz, C.D., Bastos L.T.F., Carelli, R. 2011. Adaptive motion control law of a robotic wheelchair. Control Engineering Practice, (19), 113-125. Ding D., Cooper, R.A. 2005. Electric powered wheelchairs. IEEE Control Systems, 25(2), 22-34.
  • Fujii F., Wada, K. 2005. Analysis on the manual control characteristics of the human pilot during the operation of the powered wheelchair, Advanced Robotics, 19(2), 121-139.
  • Greenwood, D.T. 1987. Principles of Dynamics (2nd Edition). Prentice Hall, USA 552.
  • Johnson, B.W., Aylor, J.H. 1986. Reliability&Safety Analysis of a Fault-Tolerant Controller. IEEE Transactions on Reliability, 35(4), 355-362.
  • Kung, Y.S., Huang, P.H., Su, F.C., Chen, T.S. 2011. Realization of an FPGA-based Motion control system for electric standing wheelchairs. IEEE Symposium on Industrial Electronics and Applications, Langkawi, 47-52.
  • Lewis, F.L., Abdallah, C., Dawson D.M. 1993. Control of Robot Manipulators, Maxwell Macmillan Publishing Company, Oxford 424.
  • Nguyen, T.N., Su, S.W., Nguyen, H.T. 2011. Robust Neuro-Sliding Mode Multivariable Control Strategy for Powered Wheelchairs, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(1), 105-111.
  • Pasin, F. 1994. Mekanik Sistemler Dinamiği, İTU Rektörlüğü, Türkiye, 1540.
  • Peng, W., Lin, Z., Su, J. 2009. Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques. IET Control Theory & Applications, 3(6), 701-711.
  • Saadatzi, M.N., Poshtan, J., Saadatzi, M.H. 2011. Optimal multivariable two-degree-of-freedom control of electric wheelchair using non-dominated sorting genetic algorithm-II. IEEE International Conference on Control Applications (CCA), Denver Colorado, 376-381.
  • Sangdani, M.H., Tavakolpour-Saleh, A., Lotfavar, R.A. 2018. Genetic algorithm-based optimal computed torque control of a vision-based tracker robot: Simulation and experiment. Engineering Applications of Artificial Intelligence, (67), 24-38.
  • Shung, J.B., Tomizuka, M.M., Auslander, D.M., Stout, G.G. 1983. Feedback Control and Simulation of a Wheelchair. ASME. Journal of Dynamic Systems, Measurement and Control, 105(2), 96-100.
  • Yang, Y.L. Chao, P.C.P., Sung, C.K. 2009. Landing Posture Control for a Generalized Twin-Body System Using Methods of Input–Output Linearization and Computed Torque. IEEE/ASME Transactions on Mechatronics, 14(3), 326-336.
Toplam 16 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Mühendislik
Bölüm Makaleler
Yazarlar

Ahmet Dumlu

Kağan Koray Ayten

Yayımlanma Tarihi 31 Ağustos 2018
Yayımlandığı Sayı Yıl 2018 Cilt: 11 Sayı: 2

Kaynak Göster

APA Dumlu, A., & Ayten, K. K. (2018). Bir Otonom Elektrikli Tekerlekli Sandalyenin Yörünge Kontrolünde Hesaplamalı Tork Kontrol ve PID Kontrol Yöntemlerinin Karşılaştırılması. Erzincan University Journal of Science and Technology, 11(2), 119-131. https://doi.org/10.18185/erzifbed.382359