N. F., Jamin and N. M. A., Ghani and Zuwairie, Ibrahim and M. F., Masrom and N. A. A, Razali and A. M., Almeshal (2018) Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller. International Journal of Simulation Systems, Science & Technology (IJSSST), 19 (3). 3.1-3.7. ISSN 1473-8031 (print); 1473-804x (online). (Published)
|
Pdf
Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller.pdf Download (268kB) | Preview |
|
|
Pdf
Two-Wheeled Wheelchair Stabilizat.pdf Download (427kB) | Preview |
Abstract
In this paper, an Interval Type-2 Fuzzy Logic Control (IT2FLC) is proposed to control a two-wheeled wheelchair system which mimics double-links inverted pendulum and known as highly nonlinear, unstable and complex system. The control structures of the two-wheeled wheelchair is based on IT2FLC for balancing and maintaining stability of two-wheeled wheelchair system in the upright position. This paper is aimed to develop a 3-Dimensional (3D) model of two-wheeled wheelchair using a SimWise 4D (SW4D) software, which replace a complex mathematical representation that is obtained using long equation and derivation. The movement of the system is visualized using the SW4D as it is integrated with Matlab Simulink. Simulation results show that the IT2FLC give a good performance in term of tilt angle at zero degree in the upright position.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Double-link inverted pendulum; Interval type-2 fuzzy logic control; Two-wheeled wheelchair |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering Faculty of Manufacturing Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 03 Dec 2018 08:07 |
| Last Modified: | 03 Dec 2018 08:07 |
| URI: | http://umpir.ump.edu.my/id/eprint/22990 |
| Download Statistic: | View Download Statistics |
Actions (login required)
 |
View Item |