Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair
In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) so...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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World Scientific Publishing
2012
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| Online Access: | http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf |
| _version_ | 1825646744639111168 |
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| author | Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman |
| author_facet | Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman |
| author_sort | Ahmad, Salmiah |
| collection | IIUM |
| description | In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the ¯rst link (Link1),
attached to the front wheels (casters) to the upright position while maintaining stability of the second link (Link2) where the payload is attached. General rules of thumb allow heuristic tuning (trial and error) of the parameters but such heuristic method does not guarantee that the system tuned with current data set will represent future system states. A global optimization mechanism such as genetic algorithm is necessary to improve the system performance. Due to its signficant advantages over other searching methods, a genetic algorithm approach is used to
optimize the scaling factors of the MFC and results show that the optimized parameters give better system performance for such a complex, highly nonlinear two-wheeled wheelchair system. |
| first_indexed | 2024-03-05T23:07:09Z |
| format | Article |
| id | oai:generic.eprints.org:25364 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-13T18:56:47Z |
| publishDate | 2012 |
| publisher | World Scientific Publishing |
| record_format | dspace |
| spelling | oai:generic.eprints.org:253642012-08-09T07:32:10Z http://irep.iium.edu.my/25364/ Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman TJ212 Control engineering In this work, an optimization technique is adopted to manipulate the input and output scaling factors of a modular fuzzy logic controller (MFC) for lifting and stabilizing the front wheels of a wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The lifting of the chair is done by transforming the ¯rst link (Link1), attached to the front wheels (casters) to the upright position while maintaining stability of the second link (Link2) where the payload is attached. General rules of thumb allow heuristic tuning (trial and error) of the parameters but such heuristic method does not guarantee that the system tuned with current data set will represent future system states. A global optimization mechanism such as genetic algorithm is necessary to improve the system performance. Due to its signficant advantages over other searching methods, a genetic algorithm approach is used to optimize the scaling factors of the MFC and results show that the optimized parameters give better system performance for such a complex, highly nonlinear two-wheeled wheelchair system. World Scientific Publishing 2012-06 Article PeerReviewed application/pdf en http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf Ahmad, Salmiah and Siddique, Nazmul H. and Tokhi, Mohammad Osman (2012) Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair. International Journal of Computational Intelligence and Applications, 11 (2). 1250009 (1)-1250009 (23). ISSN 1757-5885 (O), 1469-0268 (P) http://www.worldscientific.com/doi/abs/10.1142/S1469026812500095?journalCode=ijcia 10.1142/S1469026812500095 |
| spellingShingle | TJ212 Control engineering Ahmad, Salmiah Siddique, Nazmul H. Tokhi, Mohammad Osman Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title | Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title_full | Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title_fullStr | Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title_full_unstemmed | Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title_short | Evolutionary tuning of modular fuzzy controller for two-wheeled wheelchair |
| title_sort | evolutionary tuning of modular fuzzy controller for two wheeled wheelchair |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/25364/1/Salmiah-GAMFLC-ijcia-5952116-R1.pdf |
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