Real-Time Trajectory Tracking Control for Electric-Powered Wheelchairs Using Model-Based Multivariable Sliding Mode Control

Abstract

In this paper, real-time trajectory tracking control of an electric-powered wheelchair (EPW), actuated by two DC motors, has been designed, analysed and studied. Two different control approaches such as nonlinear SMC and the classical proportional-integral-derivative (PID) are employed to increase the tracking performance of the electric-powered wheelchair. A nonlinear SMC technique has been presented in order to consider the complete dynamic model of the EPW and so as to increase trajectory tracking performance of the EPW. In this study, real-time experimental application of the two different control methods has been realized. Lastly, in terms of the results, the nonlinear SMC technique has improved the trajectory tracking performance of the designed EPW.