Modelling and simulation of double-link scenario in a two-wheeled wheelchair

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

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Main Authors:	Ahmad, Salmiah, Siddique, Nazmul H., Tokhi, M. Osman
Format:	Article
Language:	English English
Published:	IOS Press 2014
Subjects:	TJ170 Mechanics applied to machinery. Dynamics TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/35859/ http://irep.iium.edu.my/35859/ http://irep.iium.edu.my/35859/1/ica00449.pdf http://irep.iium.edu.my/35859/4/35859_Modelling%20and%20simulation.SCOPUS.pdf

id	iium-35859
recordtype	eprints
spelling	iium-358592017-09-25T03:19:01Z http://irep.iium.edu.my/35859/ Modelling and simulation of double-link scenario in a two-wheeled wheelchair Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman TJ170 Mechanics applied to machinery. Dynamics TJ212 Control engineering Wheelchairs on two wheels are essential part of life for disabled persons. But designing control strategies for these wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics the inverted pendulum with a double-link scenario. This forms an example of multi degree of freedom system where there are three actuators, one on each wheel, and one for position between the two links. The system starts to work with lifting the front wheels (casters) to the upright position and further on stabilizing in the upright position. The challenge resides in the design, modelling and control of the two-wheeled wheelchair to perform comparably similar to normal four-wheeled wheelchair. This paper is aimed to model the highly nonlinear and complex two-wheeled wheelchair system using two different approaches. A state-space model is obtained from the linearised mathematical model as an initial attempt for control design investigation. Then a complex visualized mathematical model is developed, which proves as a good technique for prediction and simulation of the two-wheeled wheelchair. IOS Press 2014 Article PeerReviewed application/pdf en http://irep.iium.edu.my/35859/1/ica00449.pdf application/pdf en http://irep.iium.edu.my/35859/4/35859_Modelling%20and%20simulation.SCOPUS.pdf Ahmad, Salmiah and Siddique, Nazmul H. and Tokhi, M. Osman (2014) Modelling and simulation of double-link scenario in a two-wheeled wheelchair. Integrated Computer-Aided Engineering, 21 (2). pp. 119-132. ISSN 1069-2509 http://iospress.metapress.com/content/x85147w34752/?genre=issue&issn=1069-2509&issue=current
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ170 Mechanics applied to machinery. Dynamics TJ212 Control engineering
spellingShingle	TJ170 Mechanics applied to machinery. Dynamics TJ212 Control engineering Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman Modelling and simulation of double-link scenario in a two-wheeled wheelchair
description	Wheelchairs on two wheels are essential part of life for disabled persons. But designing control strategies for these wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics the inverted pendulum with a double-link scenario. This forms an example of multi degree of freedom system where there are three actuators, one on each wheel, and one for position between the two links. The system starts to work with lifting the front wheels (casters) to the upright position and further on stabilizing in the upright position. The challenge resides in the design, modelling and control of the two-wheeled wheelchair to perform comparably similar to normal four-wheeled wheelchair. This paper is aimed to model the highly nonlinear and complex two-wheeled wheelchair system using two different approaches. A state-space model is obtained from the linearised mathematical model as an initial attempt for control design investigation. Then a complex visualized mathematical model is developed, which proves as a good technique for prediction and simulation of the two-wheeled wheelchair.
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	Modelling and simulation of double-link scenario in a two-wheeled wheelchair
title_short	Modelling and simulation of double-link scenario in a two-wheeled wheelchair
title_full	Modelling and simulation of double-link scenario in a two-wheeled wheelchair
title_fullStr	Modelling and simulation of double-link scenario in a two-wheeled wheelchair
title_full_unstemmed	Modelling and simulation of double-link scenario in a two-wheeled wheelchair
title_sort	modelling and simulation of double-link scenario in a two-wheeled wheelchair
publisher	IOS Press
publishDate	2014
url	http://irep.iium.edu.my/35859/ http://irep.iium.edu.my/35859/ http://irep.iium.edu.my/35859/1/ica00449.pdf http://irep.iium.edu.my/35859/4/35859_Modelling%20and%20simulation.SCOPUS.pdf
first_indexed	2023-09-18T20:51:21Z
last_indexed	2023-09-18T20:51:21Z
_version_	1777410015480512512

Modelling and simulation of double-link scenario in a two-wheeled wheelchair

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