Fluttery power and warning light

[blackcats]

Hi got a 2005 Corolla 2.0 d4d 116 hp version with 192500 miles on the clock and for the last month or so it's felt down on power and can almost feel a fluttery sensation at motorway speeds. Car went into limp mode en route to work a few weeks ago when accelerating hardish from a 30 to 50 zone but I reset the ECU by removing the negative as Mr RAC said over 2 hours then the problem occurred again on my way home yesterday and got error codes p0191 & p0192 when I connected an OBD2 scanner. I've cleaned the egr valve and replaced the fuel filter since the first breakdown but don't wanna keep throwing money at an aging, although loved car if possible. Please please advise