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

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