Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair

In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) so...

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Main Authors:	Ahmad, Salmiah, Siddique, Nazmul H., Tokhi, Mohammad Osman
Format:	Article
Language:	English
Published:	World Scientific Publishing 2012
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf

id	iium-25364
recordtype	eprints
spelling	iium-253642012-08-09T07:32:10Z http://irep.iium.edu.my/25364/ Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman TJ212 Control engineering In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the ¯rst link (Link1), attached to the front wheels (casters) to the upright position while maintaining stability of the second link (Link2) where the payload is attached. General rules of thumb allow heuristic tuning (trial and error) of the parameters but such heuristic method does not guarantee that the system tuned with current data set will represent future system states. A global optimization mechanism such as genetic algorithm is necessary to improve the system performance. Due to its signficant advantages over other searching methods, a genetic algorithm approach is used to optimize the scaling factors of the MFC and results show that the optimized parameters give better system performance for such a complex, highly nonlinear two-wheeled wheelchair system. World Scientific Publishing 2012-06 Article PeerReviewed application/pdf en http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf Ahmad, Salmiah and Siddique, Nazmul H. and Tokhi, Mohammad Osman (2012) Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair. International Journal of Computational Intelligence and Applications, 11 (2). 1250009 (1)-1250009 (23). ISSN 1757-5885 (O), 1469-0268 (P) http://www.worldscientific.com/doi/abs/10.1142/S1469026812500095?journalCode=ijcia 10.1142/S1469026812500095
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, Mohammad Osman Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
description	In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the ¯rst link (Link1), attached to the front wheels (casters) to the upright position while maintaining stability of the second link (Link2) where the payload is attached. General rules of thumb allow heuristic tuning (trial and error) of the parameters but such heuristic method does not guarantee that the system tuned with current data set will represent future system states. A global optimization mechanism such as genetic algorithm is necessary to improve the system performance. Due to its signficant advantages over other searching methods, a genetic algorithm approach is used to optimize the scaling factors of the MFC and results show that the optimized parameters give better system performance for such a complex, highly nonlinear two-wheeled wheelchair system.
format	Article
author	Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman
author_facet	Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman
author_sort	Ahmad, Salmiah
title	Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
title_short	Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
title_full	Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
title_fullStr	Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
title_full_unstemmed	Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
title_sort	evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
publisher	World Scientific Publishing
publishDate	2012
url	http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/ http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf
first_indexed	2023-09-18T20:37:52Z
last_indexed	2023-09-18T20:37:52Z
_version_	1777409167614541824

Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair

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