Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization

Nurul Fadzlina, Jamin and Normaniha, Abd Ghani (2016) Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS) , 22 October 2016 , Shah Alam, Malaysia. pp. 180-185.. ISBN 978-1-5090-4186-2

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Abstract

Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the state-space representation is applied to the Simulink block diagram in Matlab. The control parameter of the system is compared between trial-and-error method and Particle Swarm Optimization (PSO) algorithm. This strategy is to find the optimal value for the system to get better performance. The system will be simulated using Fuzzy Logic Control (FLC) and FLC-PSO using Matlab/Simulink environment. Simulation results show that the FLC-PSO is better than FLC in terms of overshoot and settling time.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: two-wheeled wheelchair, double-link inverted pendulum, mathematical modelling, Fuzzy Logic Control, Particle Swarm Optimization
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 17 May 2017 03:09
Last Modified: 05 Feb 2018 02:08
URI: http://umpir.ump.edu.my/id/eprint/17710
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