Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) sof...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf |
| _version_ | 1848775965217390592 |
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| author | Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah |
| author_facet | Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah |
| author_sort | Ahmad, Salmiah |
| building | IIUM Repository |
| collection | Online Access |
| description | In this paper, an optimisation technique is adopted
to manipulate the input and output scaling of a fuzzy logic
controller for lifting the front wheels of a wheelchair and
stabilizing the wheelchair in two-wheeled mode. A virtual
wheelchair (WC) model is developed within Visual Nastran
(VN) software environment where the model is further linked
with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the first link, attached to the front wheels (casters) to the upright position while maintaining stability of the second link where the payload is attached. General rules of thumb allow heuristic tuning of the parameters but a proper optimisation mechanism will perform better. Genetic Algorithm is used to control the two-wheeled wheelchair and results show that the optimised parameters give better system performance. |
| first_indexed | 2025-11-14T14:22:34Z |
| format | Proceeding Paper |
| id | iium-2157 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:22:34Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-21572012-10-02T00:05:22Z http://irep.iium.edu.my/2157/ Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah TJ212 Control engineering TK7885 Computer engineering In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the first link, attached to the front wheels (casters) to the upright position while maintaining stability of the second link where the payload is attached. General rules of thumb allow heuristic tuning of the parameters but a proper optimisation mechanism will perform better. Genetic Algorithm is used to control the two-wheeled wheelchair and results show that the optimised parameters give better system performance. 2009-12-28 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf Ahmad, Salmiah and Tokhi, M. Osman and Toha, Siti Fauziah (2009) Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing. In: 2009 Third UKSim Symposium on Computer Modeling and Simulation (EMS 2009), 25-27 Nov. 2009, Athens. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5358808 |
| spellingShingle | TJ212 Control engineering TK7885 Computer engineering Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title | Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title_full | Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title_fullStr | Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title_full_unstemmed | Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title_short | Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| title_sort | genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing |
| topic | TJ212 Control engineering TK7885 Computer engineering |
| url | http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf |