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Medientyp:
E-Artikel
Titel:
Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic
Beteiligte:
Fadzlina Jamin, Nurul;
Abdul Ghani, Nor Maniha;
Ibrahim, Zuwairie;
Kasruddin Nasir, Ahmad Nor;
Rashid, Mamunur;
Osman Tokhi, Mohammad
Erschienen:
SAGE Publications, 2021
Erschienen in:Journal of Low Frequency Noise, Vibration and Active Control
Sprache:
Englisch
DOI:
10.1177/1461348420979480
ISSN:
2048-4046;
1461-3484
Entstehung:
Anmerkungen:
Beschreibung:
<jats:p> 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. </jats:p>