Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization

• Main Authors: Nurul Fadzlina, Jamin, Normaniha, Abd Ghani
• Format: Conference or Workshop Item
• Language: English; English
• Published: IEEE 2016
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/17710/1/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control.pdf; http://umpir.ump.edu.my/id/eprint/17710/7/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control1.pdf; http://umpir.ump.edu.my/id/eprint/17710/; https://doi.org/10.1109/I2CACIS.2016.7885293

Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the s...