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Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm

G. Mousa1, Amr Almaddah2, Ayman A. Aly3,*

1 Mechanical Engineering Department, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
2 Electrical and Computer Engineering, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
3 Mechanical Engineering Department, College of Engineering, Taif University, Taif, 21944, Saudi Arabia

* Corresponding Author: Ayman A. Aly. Email:

(This article belongs to this Special Issue: Emerging Computational Intelligence Technologies for Software Engineering: Paradigms, Principles and Applications)

Computers, Materials & Continua 2021, 66(2), 2005-2023.


About 10–20% of every country’s population is disable. There are at least 650 million people with a kind of disability worldwide. Assistance and support are perquisites for many handicap people for participating in society. Electric powered wheelchairs provide efficient mobility to motor impaired persons. In this paper a smart controller of a wheel chair mobile robot using Particle Swarm Optimization Proportional controller (PSO-P) was proposed where (PSO) algorithm was utilized to tune the proportional controller’s gains for each axis. Aiming to improve wheelchair tracking trajectory, a kinematic model of a robot with linear and angular velocities parameters was developed. The controller performance was examined using the system parameters with respect to trajectory references. A simulation of the proposed controller showed good correlation of the trajectory track under different loading conditions.


Cite This Article

G. Mousa, A. Almaddah and A. A. Aly, "Design and implementation of wheel chair control system using particle swarm algorithm," Computers, Materials & Continua, vol. 66, no.2, pp. 2005–2023, 2021.


This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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