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Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic

Nurul Fadzlina, Jamin and Normaniha, Abd Ghani and Zuwairie, Ibrahim and Ahmad Nor Kasruddin, Nasir and Mamunur, Rashid and Mohammad Osman, Tokhi (2020) Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic. Journal of Low Frequency Noise, Vibration and Active Control. pp. 1-22. ISSN 1461-3484 (Print), 2048-4046 (Online) (In Press)

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Abstract

The control schemes of a wheelchair having two wheels with movable payload utilizing the concept of a double-link inverted pendulum have been investigated in this article. The proposed wheelchair has been simulated using SimWise 4D software considering the most efficient parameters. These parameters are extracted using the spiral dynamic algorithm while being controlled with interval type-2 fuzzy logic controller (IT2FLC). The robustness and stability of the implemented controller are assessed under different situations including standing upright, forward motion and application of varying directions and magnitudes of outer disturbances to movable (up and down) system payload. It is shown that the two-wheeled wheelchair adopted by the newly introduced controller has achieved a 94% drop in torque for both Link1 and Link2 and more than 98% fall in distance travelled in comparison with fuzzy logic control type-1 (FLCT1) controller employed in an earlier design. The present study has further considered the increased nonlinearity and complexity of the additional moving payload. From the outcome of this study, it is obvious that the proposed IT2FLC-spiral dynamic algorithm demonstrates better performance than FLCT1 to manage the uncertainties and nonlinearities in case of a movable payload two-wheel wheelchair system.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Two-wheeled wheelchair; Stability; Fuzzy logic; Payloads; Spiral dynamic algorithm
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Faculty of Engineering Technology
Institute of Postgraduate Studies
Depositing User: Mrs Norsaini Abdul Samat
Date Deposited: 08 Feb 2021 03:51
Last Modified: 08 Feb 2021 03:51
URI: http://umpir.ump.edu.my/id/eprint/30517
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