LAPORAN AKHIR RISET

Program Riset dan Inovasi ITB 2014

Kontrol Gerak pada Sistem Kursi Roda Terintegrasi dengan

Antar Muka Otak-Komputer
(Motion Control of a Brain Controlled Wheelchair)

Periset Utama:
Augie Widyotriatmo, ST, MT, Ph.D.
Nama KK/P/PP:
Instrumentasi dan Kontrol

INSTITUT TEKNOLOGI BANDUNG

Desember 2014

I. HALAMAN IDENTITAS
1. Judul
: Kontrol Gerak pada Sistem Kursi
Roda Terintegrasi dengan Antar Muka Otak-Komputer
(Motion Control of a Brain Controlled Wheelchair)
2. Jenis Riset
: Program Riset Unggulan KK
3. Waktu Pelaksanaan
: Februari November 2014
4. Tim Riset
a. Nama Lengkap Ketua Tim
: Augie Widyotriatmo, ST, MT, Ph.D.
b. N I P
: 197708042010121001
c. Pangkat/Golongan
: III/b
d. Jabatan
: Lektor
e. Fakultas/Sekolah & Prodi
: Teknologi Industri
f. Kelompok Keahlian
: Instrumentasi dan Kontrol
g. Alamat Kantor/Telp/Fax/E-mail
: Jl. Ganesha 10 Bandung / 022
2504424 /
022 2506281 / augie@tf.itb.ac.id
h. Alamat Rumah/Telp/Fax/E-mail
: Jl. Cisitu Lama XI 27
Bandung/0222511367// augieharjay@gmail.com
5.1 Anggota Tim Riset:
No.
1.

Nama dan Gelar

Akademik
Dr. Suprijanto, ST, MT

Bidang Keahlian

Unit Kerja/
Lembaga

Instrumentasi

KK-IK/FTI

Alokasi Waktu
Jam/mg
bulan
10

10

5.2 Asisten Peneliti/Mahasiswa:

No.

Nama dan Gelar Akademik

Bidang Keahlian

Alokasi Waktu
Jam/mg

bulan

2.

Mahasiswa S2 (1 orang)

Instrumentasi dan Kontrol

10

3.

Mahasiswa S1 (1 orang)

Teknik Fisika

10

5.3 Biaya yang disetujui oleh ITB

Rp 50.000.000,-

Mengetahui,
Ketua Kelompok Keahlian
Instrumentasi dan Kontrol

Bandung, 12 Januari 2014

Ketua Tim Riset,

(Prof. Dr. Deddy Kurniadi)

NIP: 196309301988101001

(Augie Widyotriatmo, ST, MT, Ph.D.)

NIP: 197708042010121001

Dekan Fakultas Industrial Teknologi, ITB,

(Prof. Ir. Bermawi P. Iskandar)

1

NIP.

II. EXECUTIVE SUMMARY

1. TITLE OF RESEARCH
: Kontrol Gerak pada Sistem Kursi Roda Terintegrasi
dengan Antar Muka Otak-Komputer
(Motion Control of a Brain Controlled Wheelchair)
2. HEAD OF RESEARCH TEAM : Augie Widyotriatmo, ST, MT, Ph.D.
3. TEAM MEMBERS
Dr. Suprijanto

4. OFFICIAL ADDRESS

Faculty/School

: Industrial Technology

Research Group

: Instrumentation and Control

Home Add./Tel/Fax/Email

: Jl. Ganesha No. 10 Bandung/Telp: 0222504424/

Fax: 0222506281/Email: augie@tf.itb.ac.id

Home Add./Tel/Fax/Email
0222511367/

: Jl. Cisitu Lama XI No. 27 Bandung/Telp.

HP. 085220913456

5. EXTENDED ABSTRACT

5.1. Introduction
Electric wheelchair is a medical instrument that support people who have disability to walk.
Nowadays, electric wheelchairs are expected to have ability in receiving commands from
various signals, e.g. joysticks, brain signals, electromyogram, etc. Now, many researches
working on the application of brain computer interface (BCI) integrated with an electric
wheelchair[1]-[6]. At this applications, there exists a problem where the classification of brain
signals has limitted performance. In [7], classification of the BCI system is only 98% to
deferentiate moving forward, left, and right. Although it is already have high performance, we
should not rely even for a small failure. In this case, the wheelchair should be able to combine
the information from the user through the brain signals, using the BCI system, with the
information from the environment, using transducers.
In this paper, the scenario of a robotic wheelchair operating in a corridor is focused. The
objective is to add the ability of the wheelchair to follow the wall at the corridor. In this case, if
the wheelchair enters a corridor environment and the user sends the command to the wheelchair
to move forward, the wheelchair will execute a wall following control algorithm in order the
wheelchair to move straight at the corridor.
The wheelchair is equipped with ultrasonic system to measure the distance and the angle
between the wheelchair and the wall. Control algorithm is implemented to control the
wheelchair moving forward while maintaining the distance between the wheelchair and the
wall. The control structure is divided into two schemes: the dynamic and the kinematic parts
[8, 9]. In the dynamic part, an adaptive control is applied based on literature [8]. The kinematic
control is derived based upon a Lyapunov-based method.
The main contribution of this paper is the idea of collaborating the command from the user
and the wall following control algorithm in the application of a brain-controlled wheelchair.
The wall-following control algorithm is derived based a Lyapunov function and the stability of
the closed-loop system is verified. The effectiveness of the method is verified by experiment.
5.2. Methodology
Fig. 1 shows a modified electric wheelchair consist of DC motor, motor driver, encoder, PC,
joystick, and ultrasonic transducers. There are one DC motor for each wheel. Motor driver is used to
supply voltage and current to both DC motors. Encoder is used to count every wheel rotation. PC is the
brain of the robotic wheelchair, where the system and the algorithm is build. Joystick is used to give
command to PC.
Fig. 2 shows the configuration of ultrasonic transducers on the wheelchair. Ultrasonic transducers
are used to measure the distance between electric wheelchair and wall. The schematic of the distance h
and the angle between the wheelchair and the wall is shown in Fig. 3, respectively. The angle is
calculated as follows (Eq.1),

Figure 1 Wheelchair used in the experiment

Figure 2 Ultrasonic transducers placement on the wheelchair

Figure 3 Distance to the wall h and angle between the wheelchair and the wall

Figure 4 Control block diagram of the wheelchair

a b

lt

arctan

(1)

where a and b are the distance measurement at the front and back transducer, respectively, and lt is the
distance between the front and back transducers. Then the distance to the wall, h, can be calculated
easily.
Fig. 4 shows control block diagram of the wheelchair. There are two input from joystick and
ultrasonic. Joystick gives command from user to run the wall following program. Ultrasonic transducers
provide distance and angle between the wheelchair and the wall. The PC processes the input and send
PWM to motor drivers. Motor drivers send voltage to DC motors.

5.3. Results
A.

Kinematic Model
First, we derive kinematic model for the wheelchair. Fig. 5 shows the electric wheelchair which is
assumed as mobile robot with two independent wheels on the back to control the movement. Electric
wheelchair have linear velocity (v) and angular velocity (). The linear velocity and the angular velocity
are functions of right wheel linear velocity (vr) and left wheel linear velocity (vl).
5

From Fig. 5, we know that

v r vl
2
v v
r l
2L
v

(2)
(3)

where subscript r and l belongs to right and left wheel respectivey, and L is the distance between the
wheel to the center of the wheelchair. Linear velocity of right wheel (vr) and left wheel (vl) are functions
of angular velocity of right wheel (r) and left wheel (l), respectively,

vl l R
vr r R

(4)
(5)

Figure 5. Mobile robot schematic that represents the wheelchair

where R is the radius of the wheel. Substituting equation (4) and (5) to equation (2) and (3) yields

R( r l )
2
R ( r l )

2L
v

(6)
(7)

Equations (6) and (7) are substituted to get r and l as follows

(v L )
R
(v L )
l
.
R

(8)
(9)

B. Wall Following Equation

The electric wheelchair is designed to follow the wall at certain distance. The distance can be
determined manually. From equations (8) and (9), we can control velocity from right and left wheel if all
the variable is obtained. R and L are obtained from radius of wheel and length of electric wheelchair. v is
put mannualy and is to be designed. So, wall following equation is derived to find equation for .
Fig. 6 shows the wall following schematic, h is the distance between wall and electric wheelchair,
hd is the distance between electric wheelchair and desire distance. v is velocity of electric wheelchair.
is angle between electric wheelchair and wall. is angular velocity of electric wheelchair.
From Fig. 6, we obtain that
v sin
y
(10)
(11)

y
Assumed that v is constant,
can be replaced with error between h and hd .

h h d sin

(12)

Difference between h and hd is defined as error eh, so equation (12) can be simplified to

e h sin

(13)
Control wall following is designed as follows
e h
(14)

Figure 6. Wall following schematic

To prove stability from equation (11) and (13), the Lyapunov method is utilzed, with a Lyapunov
equation is chosen as
2

eh 2

2
2

(15)

Equation (15) is derived with respect to time as follows

V e h e h
(16)
Substituting equation (11) and (13) to equation (16)
V e h sin
(17)
Because is relatively small, we can assume that
sin
(18)
Substituting equation (18) to equation (17)
V eh
(19)
Requirement to check the stability is
(20)
V 0
Substituting equation (13) to equation (18)
(21)
V 2
If we give some value to , it always give negative result. So we can conclude that goes to zero.
We add gains k1 and k2 to equation (14) to make response of the system faster
k1eh k 2
(22)
Using control (22), the closed-loop system becomes
e h sin
(23)
k e k
1

From (23), we can conclude that, e goes to a constant value since goes to zero as time goes to
infinity. In the mean time, will also goes to zero at infinity. Then from the second term of (23), it can
be concluded that eh goes zero as and go to zero. This concludes that using control algorithm (22),
eh and goes to zero.
C. Adaptive Control
Adaptive control in electric wheelchair is to control the velocity of the right and left wheels to follow
the desired velocity commands. We must derived dynamic control for electric wheelchair. This adaptive
control is based on literature [8].
There exist a matrix S (q ) so that
7

S T (q) J T ( q) 0

(24)

where

cos sin 0
(25)
0
1
0
q = [x, y, ]T and J is the constraint matrix of the differential wheel robot. It can be obtained that
cos 0
v
q S (q )v sin 0
(26)

0
1
S T (q)

where v and are the linear and angular velocity of the mobile robot.
The dynamic model of this mobile robot is derived from the kinetic energy, which expressed as
follows.

K
d
dt

1 T
q Mq
2

(27)

K
C ( q ) q B ( q ) J T ( q )
q

(28)

where M is the inertia matrix of the wheelchair and the user if it exist, the matrix M is
m 0 0
M 0 m 0
(29)
0 0 I
where m is the total mass of the wheelchair and the user and I is the inertia moment at the center distance
between right and left wheels. Then
k
Mq 0
(30)
q
d
dt

k
MS T v MS T v

Mq
q

C1 cos
C ( q) q C (q ) S T v C 2 sin

B ( q) v

(31)

0
0
C 3

(32)

(33)

Dynamic model of wheelchair is

C (q )q G (q )q B ( q ) J T ( q ) (34)
M (q)q

Substituting (28), (29), (30), (31) to (32) yields

MS T v * MS T v * C * v *
J T (35)
x, y ,2

To eliminate J equation (35) should be multiplied with S which yields

SMS T v T ( SMS T SC * )v * v ,
(36)
Solving equation (34) the following equation was obtained

m 0
0 1

v C *

0

0 v v

C3

(37)

where the linear and the angular velocity in matrix are

v R 1 1 R
1 1
2 L
L L
v R 1 1 R
1 1
2 L
L L

(38)

(39)

Substituting (36) and (37) to (35) yields

8

R
R
R
R
m D R m D L C * R C * L
2
2
2
2
(40)
R
(k R R k L L )
2
Separating the function for the left and right wheel, we have
m R C * R k R R
(41)
m L C * L k L L

(42)

or they can be expressed as

R ,L

k
C*
R ,L R ,L R ,L
m
m

(43)
where k i , i = R, L, is motor gain of right and left wheel respectively. Let

r z , r z ,

C*
a 1 ,
m

k
b r , u r (44)
m

Then (43) can be written as

z az bu
Let the reference model be

z m a m z m bm r

(45)
(46)

The control law for velocity control is

u k * z l *r

(47)

bm
a a
and k * m
.
b
b
Let e z z m , thus using the Laplace transform, we obtain
where l *

b
(k * z l * r u )
s am
b
e
(k * z l *r kz lr )
s am
e

(48)
(49)

Define k~ k * k and ~
l l * l , then, (49) becomes
e

~ ~
b
(k z l r )
s am

(50)

The inverse Laplace transfrom of (50) is

~
~
e a m e b( k z l r )
(51)
The adaptive equation is designed as follows
f 1 1ez sgn(b)
(52)

f 2 2 er sgn(b)

(53)
The Lyapunov function candidate is chosen as follows
~
~
~ ~
e2
k
l
V (e, k , l )

b
b
(54)
2
2 1
2 2
Using control law (47) and adaptive law (52) and (53), the time-derivative of Lyapunov function (54) is
(55)
V a m e 2
in which V 0 for am 0 . Therefore the control law (47) adaptive law (41)-(42) causes the negative
semi-definite of the derivative of the Lyapunov function. Using Barbalats lemma, it is found that the
error e converges to zero as time goes to infinity. Then, e = 0 is uniformly asymptotically stable.
Experiment use electric wheelchair in corridor. Electric wheelchair is desired to follow wall in
corridor. The linear velocity is 0.4 m/s, k1 1.25 , and k 2 2 . Start point for electric wheelchair is
50 cm from the wall. hd is set to 40 cm.
9

Figs. 7 and 8 show the distance and angle between the wheelchair and the wall. The wheelchair
achieve the distance 40 cm from the wall and also the angle of 0 rad. The fluctuations in the distance and
the angle are because of the random errors in the measurement of ultrasonic transducers. Fig. 9 shows the
control input to the right and left wheel while the wheelchair performs wall following.

Figure 7. Distance from the wheelchair to the wall.

Figure 8. Angle from the wheelchair to the wall.

Figure 9. Wheel-Velocities (solid: right wheel; dashed: left wheel)

5.4. Discussions and Conclusions

This paper present wall following control algorithm for the application of a brain-controlled
wheelchair moving at a corridor. Ultrasonic transducers are utilized to measure the distance and the angle
between the wheelchair and the wall at the corridor. The kinematic control is derived based on Lyapunov
method and the dynamic control is adaptive control. The stability of the closed-loop system have been
verified. By experiment, it is shown that the wheelchair achieve the wall following objective with good
performance.

10

III. EVALUASI DIRI

1.
a.

CAPAIAN:
TUJUAN YANG TERTULIS DI PROPOSAL:

1) Membangun sistem kontrol kursi roda dengan skema perintah dari sistem
antarmuka otak-komputer.
2) Mengintegrasikan sistem antarmuka otak-komputer dengan sistem robotik kursi
roda.
3) Mengevaluasi dan memperbaiki hasil eksekusi kontrol pada kursi roda dengan
perintah dari sistem antarmuka otak-komputer.

b.

TUJUAN YANG TELAH DICAPAI:

1) Membangun sistem kontrol kursi roda dengan skema perintah dari sistem
antarmuka otak-komputer.
2) Mengintegrasikan sistem antarmuka otak-komputer dengan sistem robotik kursi
roda.
3) Mengevaluasi dan memperbaiki hasil eksekusi kontrol pada kursi roda dengan
perintah dari sistem antarmuka otak-komputer.

2.
PRODUK RISET
Yang Dijanjikan Pada Proposal

Yang Dihasilkan Pada Penelitian

1.

Publikasi

3 Jurnal
Internasional
6 Prosiding
Internasional

Publikasi

Gunachandra, Sylvester Chrisander, Augie

Widyotriatmo, Suprijanto Wall Following Control
for the Application of a Brain-Controlled
Wheelchair, Proceedings of the IEEE
International Conference on Intelligent
Autonomous Agents, Networks and Systems,
2014.

Propototipe
1 Prototipe
Propototipe Prototipe
HAKI
HAKI
3.
KEGIATAN DISEMINASI HASIL RISET:
1. International Conference on TIME-E, Bandung 2014
2. International Conference on Inagentsys, Bandung 2014
4.
-

SINERGI DENGAN KEGIATAN DAN PROYEK RISET LAIN:

5.
KEMANFAATAN PROYEK RISET:
Tugas Akhir S1:
1. Gunachandra
2. Sylvester Chrisander
6.

PERMASALAHAN YANG DIHADAPI DAN SARAN PERBAIKAN:

Permasalahan utama adalah dana yang tidak kunjung turun, sedangkan penelitian
memerlukan dukungan peralatan yang memadai.

7.
RENCANA KELANJUTAN PENELITIAN:
1. Memperbaiki prototipe dan integrasi dengan BCI.

11

IV. LAMPIRAN OUTPUT PENELITIAN

12

13