Fuzzy-EKF Controller for Intelligent Wheelchair Navigation

2016 ◽  
Vol 25 (2) ◽  
pp. 107-121 ◽  
Author(s):  
Malek Njah ◽  
Mohamed Jallouli
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Energy Management ◽  
Research Laboratory ◽  
Control Method ◽  
Severe Disabilities ◽  
Indoor Navigation ◽  
Electric Wheelchair ◽  
Security Environment ◽  
Intelligent Wheelchair

AbstractThe electric wheelchair gives more autonomy and facilitates movement for handicapped persons in the home or in a hospital. Among the problems faced by these persons are collision with obstacles, the doorway, the navigation in a hallway, and reaching the desired place. These problems are due to the difficult manipulation of an electric wheelchair, especially for persons with severe disabilities. Hence, we tried to add more functionality to the standard wheelchair in order to increase movement range, security, environment access, and comfort. In this context, we have developed an automatic control method for indoor navigation. The proposed control system is mounted on the electric wheelchair for the handicapped, developed in the research laboratory CEMLab (Control and Energy Management Laboratory-Tunisia). The proposed method is based on two fuzzy controllers that ensure target achievement and obstacle avoidance. Furthermore, an extended Kalman filter was used to provide precise measurements and more effective data fusion localization. In this paper, we present the simulation and experimental results of the wheelchair navigation system.

ALTERNATIVE WHEELCHAIR CONTROL INVOLVING INTENTIONAL MUSCLE CONTRACTIONS

2009 ◽  
Vol 18 (03) ◽  
pp. 439-465 ◽  
Author(s):  
TORSTEN FELZER ◽  
BRUNO STRAH ◽  
RAINER NORDMANN ◽  
SEBASTIAN MIGLIETTA
Keyword(s):  
Control System ◽  
User Interface ◽  
Real Life ◽  
Sensory Information ◽  
Severe Disabilities ◽  
Usual Method ◽  
Powered Wheelchair ◽  
Intelligent Wheelchair ◽  
Control Principle ◽  
Wheelchair Control

This paper deals with various ways of controlling an electrically powered wheelchair beyond the usual method involving a manual joystick. The main focus is on the newest version of HaWCoS – the "HAnds-free Wheelchair COntrol System" – allowing persons with severe disabilities to reliably navigate a power wheelchair without the need to use the hands. All the user has to do is to produce a sequence of tiny contractions of an arbitrary muscle, e.g., by raising the eyebrow. The working prototype of the system, which has been realized as a stand-alone device, is introduced in detail, together with a closer look at the muscle-based control principle and a brief description of a PC-based simulator. The advantages and the drawbacks of the system are discussed on the basis of a rather simple real-life experiment. The paper also elaborates on possible approaches to improve HaWCoS (by reducing or eliminating its problems) in the future. In addition to a quick software solution and a controller implementation involving supplemental sensory information, planned "improvements" include the development of an "intelligent wheelchair" with HaWCoS being some sort of a prototype for the User Interface component.

scholarly journals Shared Control of an Electric Wheelchair Considering Physical Functions and Driving Motivation

2020 ◽  
Vol 17 (15) ◽  
pp. 5502 ◽  
Author(s):  
Lele Xi ◽  
Motoki Shino
Keyword(s):  
Control System ◽  
Control Method ◽  
Shared Control ◽  
Operating Characteristics ◽  
Safe Operation ◽  
Physical Impairments ◽  
Electric Wheelchair ◽  
Automatic Driving ◽  
Control Signals ◽  
Physical Functions

Individuals with severe physical impairments have difficulties operating electric wheelchairs (EWs), especially in situations where fine steering abilities are required. Automatic driving partly solves the problem, although excessive reliance on automatic driving is not conducive to maintaining their residual physical functions and may cause more serious diseases in the future. The objective of this study was to develop a shared control system that can be adapted to different environments by completely utilizing the operating ability of the user while maintaining the motivation of the user to drive. The operating characteristics of individuals with severe physical impairments were first analyzed to understand their difficulties when operating EWs. Subsequently, a novel reinforcement learning-based shared control method was proposed to adjust the control weight between the user and the machine to meet the requirements of fully exploiting the operating abilities of the users while assisting them when necessary. Experimental results showed that the proposed shared control system gradually adjusted the control weights between the user and the machine, providing safe operation of the EW while ensuring full use of the control signals from the user. It was also found that the shared control results were deeply affected by the types of users.

Control of coagulation process by dual wavelength article analyzer

1997 ◽  
Vol 36 (4) ◽  
pp. 135-142 ◽  
Author(s):  
Norihito Tambo ◽  
Yoshihiko Matsui ◽  
Ken-ichi Kurotani ◽  
Masakazu Kubota ◽  
Hirohide Akiyama ◽  
...  
Keyword(s):  
Water Quality ◽  
Control System ◽  
Predictive Control ◽  
Control Method ◽  
Feedforward Control ◽  
Raw Water ◽  
Floc Size ◽  
Coagulation Process ◽  
Series Of Experiments ◽  
Size Data

A coagulation process for water purification plants mainly uses feedforward control based on raw water quality and empirical data and requires operator's help. We developed a new floc sensor for measuring floc size in a flush mixer to be used for floc control. A control system using model predictive control was developed on the floc size data. A series of experiments was performed to confirm controllability of settled water quality by controlling flush mixer floc size. An automatic control with feedback from the coagulation process was evaluated as practical and reliable. Finally this new control method was applied for actual plant and evaluated as practical.

Independent wheel control system design for highly automated driving

2021 ◽  
pp. 095440702110065
Author(s):  
Shihuan Li ◽  
Lei Wang
Keyword(s):  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Control System Design ◽  
Steering Control ◽  
Automated Driving ◽  
Accuracy And Precision ◽  
Actual Observation ◽  
Control Scheme ◽  
Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

scholarly journals Electromagnetic Actuator System Using Witty Control System

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 65
Author(s):  
Der-Fa Chen ◽  
Shen-Pao-Chi Chiu ◽  
An-Bang Cheng ◽  
Jung-Chu Ting
Keyword(s):  
Control System ◽  
Control Method ◽  
Search Algorithm ◽  
Electromagnetic Actuator ◽  
Control Performance ◽  
Learning Capability ◽  
Learning Rates ◽  
Agricultural Applications ◽  
Actuator System ◽  
Rice Milling

Electromagnetic actuator systems composed of an induction servo motor (ISM) drive system and a rice milling machine system have widely been used in agricultural applications. In order to achieve a finer control performance, a witty control system using a revised recurrent Jacobi polynomial neural network (RRJPNN) control and two remunerated controls with an altered bat search algorithm (ABSA) method is proposed to control electromagnetic actuator systems. The witty control system with finer learning capability can fulfill the RRJPNN control, which involves an attunement law, two remunerated controls, which have two evaluation laws, and a dominator control. Based on the Lyapunov stability principle, the attunement law in the RRJPNN control and two evaluation laws in the two remunerated controls are derived. Moreover, the ABSA method can acquire the adjustable learning rates to quicken convergence of weights. Finally, the proposed control method exhibits a finer control performance that is confirmed by experimental results.

scholarly journals A New Online Learned Interval Type-3 Fuzzy Control System for Solar Energy Management Systems

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Zhi LIU ◽  
Ardashir Mohammadzadeh ◽  
Hamza Turabieh ◽  
Majdi Mafarja ◽  
Shahab S. Band ◽  
...  
Keyword(s):  
Control System ◽  
Solar Energy ◽  
Fuzzy Control ◽  
Energy Management ◽  
Management Systems ◽  
Fuzzy Control System ◽  
Energy Management Systems ◽  
Interval Type ◽  
Type 3
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