Advanced and intelligent control techniques applied to the drive control and path tracking systems on a robotic wheelchair

This paper presents the theoretical support and experimental results of the application of advanced and intelligent control techniques to the drive co ntrol and trajectory tracking systems on a robotic wheelchair. The adaptive optimal control of the differential drive helps to improve the automatic g uidance system's safety and comfort taking into consideration operating con ditions such as load and distribution changes or motion actuator limitation s. Furthermore, the incorporation of an optimal controller to minimize loca tion errors and a fuzzy controller to adapt the linear velocity to the char acteristics of the trajectory, provide the vehicle with a high degree of in telligence and autonomy, even when faced with obstacles. The global control solution implemented increases the features of the wheelchair for handicap ped people, especially for those with a high degree of disability.