Stability Control of Wheelchair System Using Interval Type-2 Fuzzy Logic Control (IT2FLC)

摘要

Existing control techniques of mobile robot specifically for four to two wheeled wheelchair transformation are lack of adequate mobility, comfort and independence for their users due to highly nonlinear and complex system. This paper presents a four to two wheeled wheelchair transformation system that based on the fundamental of double-link inverted pendulum. SimWise 4D CAD software is used to model and visualize the system movement while evaluating Matlab. This CAD software is integrated with Matlab/Simulink for designing control algorithm. In this work, the controller used to perform transformation and balancing the wheelchair is IT2FLC. It shows that IT2FLC produce better result in terms of lifting and stabilizing the wheelchair in an upright position compared to previous Fuzzy Logic Type-l control.