Independent mobility and freedom is necessary for every individual in this world. Mobility of individuals with disabilities is often limited which can lead to a reduced quality of life. In this context, Smart mobility system is an important concept in this field of technology that can ease the life of such individuals suffering from different kinds of disorders. Smart wheelchairs have been developed to provide independent mobility to individuals with disabilities but their working performance depends mainly on the effectiveness of their kinematics and different controllers for regulating the speed of the system. The objective of this research work is to design and control the motion of autonomous mobility system that is capable of providing independent mobility to individuals suffering from different types of disabilities. This paper proposes the use of three controllers-Proportional Integral Derivative (PID), Fuzzy Logic controller (FLC) and a Particle Swarm Optimization (PSO) optimized PID controller to achieve the desired and precise motion of the system. Mathematical modelling is done by implementing different kinematic equations and the results are verified by using MATLAB software. The proposed controllers are evaluated and compared based on their performance in terms of steady state error, peak overshoot, settling time and rise time.
| Published in | American Journal of Science, Engineering and Technology (Volume 11, Issue 1) |
| DOI | 10.11648/j.ajset.20261101.12 |
| Page(s) | 10-23 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2026. Published by Science Publishing Group |
Smart Wheelchair, Speed Control, PID Controller, Fuzzy Controller, PSO Optimization, BLDC
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APA Style
Wani, S. A., Nasiruddin, I., Khatoon, S., Shahid, M. (2026). Design Kinematics and Speed Control of Autonomous Mobility System Using Intelligent Controller Design Strategies. American Journal of Science, Engineering and Technology, 11(1), 10-23. https://doi.org/10.11648/j.ajset.20261101.12
ACS Style
Wani, S. A.; Nasiruddin, I.; Khatoon, S.; Shahid, M. Design Kinematics and Speed Control of Autonomous Mobility System Using Intelligent Controller Design Strategies. Am. J. Sci. Eng. Technol. 2026, 11(1), 10-23. doi: 10.11648/j.ajset.20261101.12
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Download@article{10.11648/j.ajset.20261101.12,
author = {Sajad Ahmad Wani and Ibraheem Nasiruddin and Shahida Khatoon and Mohammad Shahid},
title = {Design Kinematics and Speed Control of Autonomous Mobility System Using Intelligent Controller Design Strategies},
journal = {American Journal of Science, Engineering and Technology},
volume = {11},
number = {1},
pages = {10-23},
doi = {10.11648/j.ajset.20261101.12},
url = {https://doi.org/10.11648/j.ajset.20261101.12},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ajset.20261101.12},
abstract = {Independent mobility and freedom is necessary for every individual in this world. Mobility of individuals with disabilities is often limited which can lead to a reduced quality of life. In this context, Smart mobility system is an important concept in this field of technology that can ease the life of such individuals suffering from different kinds of disorders. Smart wheelchairs have been developed to provide independent mobility to individuals with disabilities but their working performance depends mainly on the effectiveness of their kinematics and different controllers for regulating the speed of the system. The objective of this research work is to design and control the motion of autonomous mobility system that is capable of providing independent mobility to individuals suffering from different types of disabilities. This paper proposes the use of three controllers-Proportional Integral Derivative (PID), Fuzzy Logic controller (FLC) and a Particle Swarm Optimization (PSO) optimized PID controller to achieve the desired and precise motion of the system. Mathematical modelling is done by implementing different kinematic equations and the results are verified by using MATLAB software. The proposed controllers are evaluated and compared based on their performance in terms of steady state error, peak overshoot, settling time and rise time.},
year = {2026}
}
TY - JOUR T1 - Design Kinematics and Speed Control of Autonomous Mobility System Using Intelligent Controller Design Strategies AU - Sajad Ahmad Wani AU - Ibraheem Nasiruddin AU - Shahida Khatoon AU - Mohammad Shahid Y1 - 2026/02/11 PY - 2026 N1 - https://doi.org/10.11648/j.ajset.20261101.12 DO - 10.11648/j.ajset.20261101.12 T2 - American Journal of Science, Engineering and Technology JF - American Journal of Science, Engineering and Technology JO - American Journal of Science, Engineering and Technology SP - 10 EP - 23 PB - Science Publishing Group SN - 2578-8353 UR - https://doi.org/10.11648/j.ajset.20261101.12 AB - Independent mobility and freedom is necessary for every individual in this world. Mobility of individuals with disabilities is often limited which can lead to a reduced quality of life. In this context, Smart mobility system is an important concept in this field of technology that can ease the life of such individuals suffering from different kinds of disorders. Smart wheelchairs have been developed to provide independent mobility to individuals with disabilities but their working performance depends mainly on the effectiveness of their kinematics and different controllers for regulating the speed of the system. The objective of this research work is to design and control the motion of autonomous mobility system that is capable of providing independent mobility to individuals suffering from different types of disabilities. This paper proposes the use of three controllers-Proportional Integral Derivative (PID), Fuzzy Logic controller (FLC) and a Particle Swarm Optimization (PSO) optimized PID controller to achieve the desired and precise motion of the system. Mathematical modelling is done by implementing different kinematic equations and the results are verified by using MATLAB software. The proposed controllers are evaluated and compared based on their performance in terms of steady state error, peak overshoot, settling time and rise time. VL - 11 IS - 1 ER -
Department of Electrical Engineering, Jamia Millia Islamia, New Delhi, India
Department of Electrical Engineering, Jamia Millia Islamia, New Delhi, India
Department of Electrical Engineering, Jamia Millia Islamia, New Delhi, India
Department of Electrical Engineering, Galgotia College of Engineering and Technology, Greater Noida, India
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