{"title":"Stability Control of Wheelchair System Using Interval Type-2 Fuzzy Logic Control (IT2FLC)","authors":"N. Razali, N. Abdul Ghani, N. F. Jamin, M. Masrom","doi":"10.1109/ICSGRC.2018.8657514","DOIUrl":null,"url":null,"abstract":"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-l control.","PeriodicalId":147027,"journal":{"name":"2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 9th IEEE Control and System Graduate Research Colloquium (ICSGRC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSGRC.2018.8657514","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
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-l control.
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