Modelling and control of a wheelchair on two wheels
Wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In fact it offers great advantages and efficiency for the user. Besides allowing a disabled to lead independent life, it is expected not to take much space dur...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/2163/ http://irep.iium.edu.my/2163/1/04530540.pdf |
| Summary: | Wheelchairs on two wheels are needed for disabled
persons to perform some of the essential tasks in their
living and work environments. In fact it offers great
advantages and efficiency for the user. Besides
allowing a disabled to lead independent life, it is
expected not to take much space during mobility as
compared to when it is on four wheels and thus a
wheelchair on two wheels has associated design and
development challenges. These include modelling and
controller design for the system to perform comparably
similar to normal four-wheeled wheelchair. In this
paper physical model of a wheelchair on two wheels
that mimics double inverted pendulum is designed and
a novel fuzzy logic control mechanism is developed
and tested with control of the two-wheeled wheelchair. |
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