A Fuzzy Logic Controller for Electric Powered Wheelchair based on Lagrange Model

Recently, great progresses in controlling Electric Powered Wheelchair (EPW) were made for people whom walking are difficult or impossible, due to illness or disability. This paper deals with the nonlinear control of an electric wheelchair. In this study, the unicycle robot is powered by two Permanent Magnet Synchronous Motors (PMSM) that are characterized by high efficiency, high torque, low noise and robustness. This research aims is to present the dynamic modelling of both EPW motors with Lagrangien method in the first step, and Fuzzy Logic Control (FLC) with the generating trajectory in the second. Indeed, fuzzy logic has been introduced to approach human reasoning with the help of an adequate representation of knowledge. Also, the success of the fuzzy control largely originates in its capacity to translate a control strategy of a skilled operator into a set of linguistic rules. The numerical simulations show the effectiveness of the proposed controller.