A modular fuzzy control approach for two-wheeled wheelchair
Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with...
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| Format: | Article |
| Language: | English |
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Springer
2011
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| Online Access: | http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf |
| _version_ | 1848775875186655232 |
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| author | Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman |
| author_facet | Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman |
| author_sort | Ahmad, Salmiah |
| building | IIUM Repository |
| collection | Online Access |
| description | Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with three actuators, one for each wheel, and one for chair position. The system starts to work with lifting the front wheels (casters) to the upright position and further with stabilizing in the upright position. The challenge resides in the design and implementation of suitable control strategies for the two-wheeled wheelchair so as to perform comparably similar to a normal four-wheeled wheelchair. A two-level modular fuzzy logic controller is proposed in this paper. A model of the standard wheelchair is also developed as a test and verification platform using Visual Nastran software integrated with Matlab. |
| first_indexed | 2025-11-14T14:21:08Z |
| format | Article |
| id | iium-1569 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:21:08Z |
| publishDate | 2011 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-15692012-02-27T02:55:47Z http://irep.iium.edu.my/1569/ A modular fuzzy control approach for two-wheeled wheelchair Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman TJ212 Control engineering Wheelchairs on two wheels are becoming essential part of life for disabled persons. But designing control strategies for such wheelchairs is a challenging task due to the fact that they are highly nonlinear and unstable systems. The subtle design of the system mimics a double inverted pendulum with three actuators, one for each wheel, and one for chair position. The system starts to work with lifting the front wheels (casters) to the upright position and further with stabilizing in the upright position. The challenge resides in the design and implementation of suitable control strategies for the two-wheeled wheelchair so as to perform comparably similar to a normal four-wheeled wheelchair. A two-level modular fuzzy logic controller is proposed in this paper. A model of the standard wheelchair is also developed as a test and verification platform using Visual Nastran software integrated with Matlab. Springer 2011-02-16 Article PeerReviewed application/pdf en http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf Ahmad, Salmiah and Siddique, Nazmul H. and Tokhi, M. Osman (2011) A modular fuzzy control approach for two-wheeled wheelchair. Journal of Intelligent & Robotic Systems, 64 (3). pp. 401-426. ISSN 0921-0296 http://dx.doi.org/10.1007/s10846-011-9541-0 doi:10.1007/s10846-011-9541-0 |
| spellingShingle | TJ212 Control engineering Ahmad, Salmiah Siddique, Nazmul H. Tokhi, M. Osman A modular fuzzy control approach for two-wheeled wheelchair |
| title | A modular fuzzy control approach for two-wheeled wheelchair |
| title_full | A modular fuzzy control approach for two-wheeled wheelchair |
| title_fullStr | A modular fuzzy control approach for two-wheeled wheelchair |
| title_full_unstemmed | A modular fuzzy control approach for two-wheeled wheelchair |
| title_short | A modular fuzzy control approach for two-wheeled wheelchair |
| title_sort | modular fuzzy control approach for two-wheeled wheelchair |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/ http://irep.iium.edu.my/1569/1/Journal_of_Intelligent_and_RS_Salmiah_Ahmad.pdf |