Stability Control of Wheelchair System Using Interval Type-2 Fuzzy Logic Control (IT2FLC)

被引：0
|
作者：
Razali, N. A. A. [1 ]
Ghani, N. M. Abdul [1 ]
Jamin, N. F. [1 ]
Masrom, M. F. [1 ]
机构：
[1] Univ Malaysia Pahang UMP, Fac Elect & Elect Engn, Pahang, Malaysia
来源：
2018 9TH IEEE CONTROL AND SYSTEM GRADUATE RESEARCH COLLOQUIUM (ICSGRC2018) | 2018年
关键词：
double-link IP; wheelchair; IT2FLC;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Existing control techniques of mobile robot specifically for four to two wheeled wheelchair transformation are lack of adequate mobility, comfort and independence for their users due to highly nonlinear and complex system. This paper presents a four to two wheeled wheelchair transformation system that based on the fundamental of double-link inverted pendulum. SimWise 4D CAD software is used to model and visualize the system movement while evaluating Matlab. This CAD software is integrated with Matlab/Simulink for designing control algorithm. In this work, the controller used to perform transformation and balancing the wheelchair is IT2FLC. It shows that IT2FLC produce better result in terms of lifting and stabilizing the wheelchair in an upright position compared to previous Fuzzy Logic Type-1 control.
引用
收藏
页码：162 / 167
页数：6
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