Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller
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 ba...
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| Format: | Article |
| Language: | English English |
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United Kingdom Simulation Society
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/22990/1/Two-wheeled%20wheelchair%20stabilization%20using%20interval%20type-2%20fuzzy%20logic%20controller.pdf http://umpir.ump.edu.my/id/eprint/22990/7/Two-Wheeled%20Wheelchair%20Stabilizat.pdf |
| _version_ | 1825812372112015360 |
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| author | N. F., Jamin N. M. A., Ghani Zuwairie, Ibrahim M. F., Masrom N. A. A, Razali A. M., Almeshal |
| author_facet | N. F., Jamin N. M. A., Ghani Zuwairie, Ibrahim M. F., Masrom N. A. A, Razali A. M., Almeshal |
| author_sort | N. F., Jamin |
| collection | UMP |
| description | 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. |
| first_indexed | 2024-03-06T12:28:10Z |
| format | Article |
| id | UMPir22990 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:28:10Z |
| publishDate | 2018 |
| publisher | United Kingdom Simulation Society |
| record_format | dspace |
| spelling | UMPir229902018-12-03T08:07:51Z http://umpir.ump.edu.my/id/eprint/22990/ Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller N. F., Jamin N. M. A., Ghani Zuwairie, Ibrahim M. F., Masrom N. A. A, Razali A. M., Almeshal TJ Mechanical engineering and machinery TS Manufactures 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. United Kingdom Simulation Society 2018 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22990/1/Two-wheeled%20wheelchair%20stabilization%20using%20interval%20type-2%20fuzzy%20logic%20controller.pdf pdf en http://umpir.ump.edu.my/id/eprint/22990/7/Two-Wheeled%20Wheelchair%20Stabilizat.pdf 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) http://ijssst.info/Vol-19/No-3/paper3.pdf DOI 10.5013/IJSSST.a.19.03.03 |
| spellingShingle | TJ Mechanical engineering and machinery TS Manufactures N. F., Jamin N. M. A., Ghani Zuwairie, Ibrahim M. F., Masrom N. A. A, Razali A. M., Almeshal Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title | Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title_full | Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title_fullStr | Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title_full_unstemmed | Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title_short | Two-wheeled wheelchair stabilization using interval type-2 fuzzy logic controller |
| title_sort | two wheeled wheelchair stabilization using interval type 2 fuzzy logic controller |
| topic | TJ Mechanical engineering and machinery TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/22990/1/Two-wheeled%20wheelchair%20stabilization%20using%20interval%20type-2%20fuzzy%20logic%20controller.pdf http://umpir.ump.edu.my/id/eprint/22990/7/Two-Wheeled%20Wheelchair%20Stabilizat.pdf |
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