Steering motion control enhancement scheme of two wheeled wheelchair in confined space

In this work, a cross compensator was augmented to an existing Fuzzy-Proportional Derivative (Fuzzy-PD) type controller developed for steering motion control of two-wheeled wheelchair. A two-wheeled wheelchair, which mimics a double inverted pendulum scenario, is a highly nonlinear system with stron...

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Main Authors:	Ahmad, Salmiah, Tokhi, M. Osman
Format:	Article
Language:	English
Published:	Science and Engineering Publishing Company 2013
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/39105/ http://irep.iium.edu.my/39105/ http://irep.iium.edu.my/39105/1/IJACE034.pdf

id	iium-39105
recordtype	eprints
spelling	iium-391052014-11-13T08:07:48Z http://irep.iium.edu.my/39105/ Steering motion control enhancement scheme of two wheeled wheelchair in confined space Ahmad, Salmiah Tokhi, M. Osman TJ212 Control engineering In this work, a cross compensator was augmented to an existing Fuzzy-Proportional Derivative (Fuzzy-PD) type controller developed for steering motion control of two-wheeled wheelchair. A two-wheeled wheelchair, which mimics a double inverted pendulum scenario, is a highly nonlinear system with strong coupling dynamics. Fuzzy-PD type controller was initially realised with some degree of steady state tracking error in steering maneouvre. The steady state error may be reduced by introducing integral action into the controller (Fuzzy-PID type). However, this will increase the fuzzy rule-base significantly, and thus the computational time will increase exponentially. Noting the strong coupling between Link1 and Link2 of the system, a cross compensator in the form of a proportional action is introduced to perform better steering motion of the two-wheeled wheelchair in a simpler manner keeping in mind the highly nonlinear, complex nature of the system. The compensator is augmented to the existing fuzzy-PD rules to reduce the steady state error in the steering motion. Preliminary results show significant improvement in steering motion angles of [-90° < ψ < 90°]. Science and Engineering Publishing Company 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/39105/1/IJACE034.pdf Ahmad, Salmiah and Tokhi, M. Osman (2013) Steering motion control enhancement scheme of two wheeled wheelchair in confined space. International Journal of Automation and Control Engineering, 2 (4). pp. 179-189. ISSN 2325-7407 (P) 2325-7415 (O) http://www.seipub.org/ijace/paperInfo.aspx?ID=2844
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 Tokhi, M. Osman Steering motion control enhancement scheme of two wheeled wheelchair in confined space
description	In this work, a cross compensator was augmented to an existing Fuzzy-Proportional Derivative (Fuzzy-PD) type controller developed for steering motion control of two-wheeled wheelchair. A two-wheeled wheelchair, which mimics a double inverted pendulum scenario, is a highly nonlinear system with strong coupling dynamics. Fuzzy-PD type controller was initially realised with some degree of steady state tracking error in steering maneouvre. The steady state error may be reduced by introducing integral action into the controller (Fuzzy-PID type). However, this will increase the fuzzy rule-base significantly, and thus the computational time will increase exponentially. Noting the strong coupling between Link1 and Link2 of the system, a cross compensator in the form of a proportional action is introduced to perform better steering motion of the two-wheeled wheelchair in a simpler manner keeping in mind the highly nonlinear, complex nature of the system. The compensator is augmented to the existing fuzzy-PD rules to reduce the steady state error in the steering motion. Preliminary results show significant improvement in steering motion angles of [-90° < ψ < 90°].
format	Article
author	Ahmad, Salmiah Tokhi, M. Osman
author_facet	Ahmad, Salmiah Tokhi, M. Osman
author_sort	Ahmad, Salmiah
title	Steering motion control enhancement scheme of two wheeled wheelchair in confined space
title_short	Steering motion control enhancement scheme of two wheeled wheelchair in confined space
title_full	Steering motion control enhancement scheme of two wheeled wheelchair in confined space
title_fullStr	Steering motion control enhancement scheme of two wheeled wheelchair in confined space
title_full_unstemmed	Steering motion control enhancement scheme of two wheeled wheelchair in confined space
title_sort	steering motion control enhancement scheme of two wheeled wheelchair in confined space
publisher	Science and Engineering Publishing Company
publishDate	2013
url	http://irep.iium.edu.my/39105/ http://irep.iium.edu.my/39105/ http://irep.iium.edu.my/39105/1/IJACE034.pdf
first_indexed	2023-09-18T20:56:11Z
last_indexed	2023-09-18T20:56:11Z
_version_	1777410319278145536

Steering motion control enhancement scheme of two wheeled wheelchair in confined space

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