A modular fuzzy control approach for two-wheeled wheelchair

Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with...

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Main Authors:	Ahmad, Salmiah, Siddique, Nazmul H., Tokhi, M. Osman
Format:	Article
Language:	English
Published:	Springer 2011
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf

id	iium-1569
recordtype	eprints
spelling	iium-15692012-02-27T02:55:47Z http://irep.iium.edu.my/1569/ A modular fuzzy control approach for two-wheeled wheelchair Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman TJ212 Control engineering Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with three actuators, one for each wheel, and one for chair position. The system starts to work with lifting the front wheels (casters) to the upright position and further with stabilizing in the upright position. The challenge resides in the design and implementation of suitable control strategies for the two-wheeled wheelchair so as to perform comparably similar to a normal four-wheeled wheelchair. A two-level modular fuzzy logic controller is proposed in this paper. A model of the standard wheelchair is also developed as a test and verification platform using Visual Nastran software integrated with Matlab. Springer 2011-02-16 Article PeerReviewed application/pdf en http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf Ahmad, Salmiah and Siddique, Nazmul H. and Tokhi, M. Osman (2011) A modular fuzzy control approach for two-wheeled wheelchair. Journal of Intelligent & Robotic Systems, 64 (3). pp. 401-426. ISSN 0921-0296 http://dx.doi.org/10.1007/s10846-011-9541-0 doi:10.1007/s10846-011-9541-0
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman A modular fuzzy control approach for two-wheeled wheelchair
description	Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with three actuators, one for each wheel, and one for chair position. The system starts to work with lifting the front wheels (casters) to the upright position and further with stabilizing in the upright position. The challenge resides in the design and implementation of suitable control strategies for the two-wheeled wheelchair so as to perform comparably similar to a normal four-wheeled wheelchair. A two-level modular fuzzy logic controller is proposed in this paper. A model of the standard wheelchair is also developed as a test and verification platform using Visual Nastran software integrated with Matlab.
format	Article
author	Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman
author_facet	Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman
author_sort	Ahmad, Salmiah
title	A modular fuzzy control approach for two-wheeled wheelchair
title_short	A modular fuzzy control approach for two-wheeled wheelchair
title_full	A modular fuzzy control approach for two-wheeled wheelchair
title_fullStr	A modular fuzzy control approach for two-wheeled wheelchair
title_full_unstemmed	A modular fuzzy control approach for two-wheeled wheelchair
title_sort	modular fuzzy control approach for two-wheeled wheelchair
publisher	Springer
publishDate	2011
url	http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf
first_indexed	2023-09-18T20:08:56Z
last_indexed	2023-09-18T20:08:56Z
_version_	1777407347042287616

A modular fuzzy control approach for two-wheeled wheelchair

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