Self-balancing iBOT-like wheelchair based on type-1 and interval type-2 fuzzy control

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Publication Details

Author list: Panomruttanarug B., Chotikunnan P.

Publisher: Hindawi

Publication year: 2014

ISBN: 9781479929924

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84905381051&doi=10.1109%2fECTICon.2014.6839710&partnerID=40&md5=1868cefc429a63dbbe75a0cc84a024ff

Languages: English-Great Britain (EN-GB)

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Abstract

This paper focuses on development of a wheelchair model and further on proposing a novel control strategy based on fuzzy logic control in order to lift the front wheels and maintain system stability in the upright position. A type-1 TSK FLS is first introduced to handle stability when the wheelchair is in an inverted pendulum-like situation. An extra control loop is designed to stop the motion after the system is stable. Then an interval type-2 TSK FLS is further developed by blurring the boundaries of the membership functions used in type-1 design. The effectiveness of the two type controllers is shown in the simulation results. ฉ 2014 IEEE.

Keywords

balancing, interval type-2, TSK, wheelchair