Intelligent Controller Design for Motion Control of Smart Wheelchair

The concept of smart wheelchair system is a very innovative and prolific concept which benefits the people suffering from diseases like cerebral palsy or any other disorder which impairs the muscle control and coordination of the body parts of a patient. Independent mobility is important for every human living on this planet and smart wheelchair system reduces the dependence of such impaired patients on others due to which their self-esteem is improved. Since control and coordination of different components of any system is necessary, so a controller is designed for this purpose. The aim of this research work is to design and evaluate an intelligent controller for the speed control of the wheelchair system. The study focuses on an efficient Fuzzy logic controller designed for the motion control of the smart wheelchair and different results are compared with conventional PID controller. Mathematical modeling of the system is done by using different system equations and the results are verified by using MATLAB software. The results indicate that the fuzzy logic controller is efficient than any other controller like conventional PID controller.