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Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing

Ahmad, Salmiah and Tokhi, M. Osman and Toha, Siti Fauziah (2009) Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing. In: 2009 Third UKSim Symposium on Computer Modeling and Simulation (EMS 2009), 25-27 Nov. 2009, Athens.

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In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the 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 first link, attached to the front wheels (casters) to the upright position while maintaining stability of the second link where the payload is attached. General rules of thumb allow heuristic tuning of the parameters but a proper optimisation mechanism will perform better. Genetic Algorithm is used to control the two-wheeled wheelchair and results show that the optimised parameters give better system performance.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4113/2157 (Print ISBN: 9781424453450)
Uncontrolled Keywords: Wheelchair; genetic algorithm; double inverted pendulum; nonlinear system; fuzzy logic control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices > TK7885 Computer engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Ir. Dr. Salmiah Ahmad
Date Deposited: 22 Sep 2011 14:20
Last Modified: 02 Oct 2012 08:05
URI: http://irep.iium.edu.my/id/eprint/2157

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