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Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Ahmad, Salmiah and Tokhi, M. Osman and Siddique, Nazmul Haque (2010) Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode. In: 2010 IEEE Symposium Indsutrial Electronics & Applications (ISIEA), 3 - 5 Oct, 2010, Penang.

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Abstract

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4113/1574 (ISBN: 9781424476459)
Uncontrolled Keywords: Wheelchair, double inverted pendulum, Nonlinear system, two-wheeled wheelchair, fuzzy logic control, input shaping, modular fuzzy control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ181 Mechanical movements
T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Salmiah Ahmad
Date Deposited: 05 Sep 2011 15:29
Last Modified: 14 Sep 2011 11:37
URI: http://irep.iium.edu.my/id/eprint/1574

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