Abstract
In this study, speed and direction angle control technique based on the fractional order model reference adaptive system (FO-MRAS) are proposed for controlling an electrically powered wheelchair (EPW) system for the first time in the literature. The model reference adaptive system (MRAS) technique has been used to achieve the estimated value of any system’s velocity information. In general, the control of the MRAS technique is usually performed by the PI based controller. However, the classical PI controllers are unable to meet the demands of high precise trajectory control during the motion. In this study, to increase the effectiveness of the PI based MRAS controller, this technique is combined with a fractional-order (FO) calculus to obtain an accurate and a robust trajectory tracking performance for an EPW. The proposed FO-MRAS controller has been compared experimentally with the conventional PI based MRAS method to show the effectiveness of using FO-MRAS method in terms of trajectory tracking accuracy and error levels. The experimental outcomes demonstrate that the proposed FO-MRAS controller gives a better trajectory tracking performance as well as having a smaller speed error.DOI: http://dx.doi.org/10.5755/j01.eie.24.5.21839
Highlights
In recent years, a robust control system for an automated guided vehicle (AGV) has been attracting a great attention because of its dynamic nonlinearities and uncertainties in the system
In this study, to overcome the aforementioned problems above, the fractional order control action is combined with the sensorless PI based model reference adaptive system (MRAS) technique for an electrically powered wheelchair (EPW), which is actuated by a permanent magnet synchronous motor (PMSM)
When we evaluate the results, the control of velocity and direction angles is very successful both in the PI-based MRAS method and in the proposed FOMRAS technique, even though the EPW platform is sensorless and loaded
Summary
A robust control system for an automated guided vehicle (AGV) has been attracting a great attention because of its dynamic nonlinearities and uncertainties in the system. It becomes indispensable to take into account the EPW’s dynamics in addition to its kinematics, when heavy load carrying and high speed movement are required In such cases, it is pretty essential to design a controller with great efficiency to run the system effectively. In the direction indicated above, in literature, to calculate the actuator position and the speed of the mobile robot, many researchers have performed the Extended Kalman Filter (EKF) in their study [12], [13]. Problems above, the fractional order control action is combined with the sensorless PI based MRAS technique for an EPW, which is actuated by a permanent magnet synchronous motor (PMSM). The PMSM motor which is actuating system is analysed firstly due to the relationship between the performance of driving and effectiveness of trajectory tracking. The explanation of the control strategies such as vector control of 3-phase PMSM, FO, MRAS based speed estimation control are described in Section III, the experimental results are given in Section IV, the discussion and conclusion are presented in Section V and Section VI
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