Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic
This paper presents investigations of control strategies for a two-wheeled wheelchair with a movable payload on various conditions using a double-link inverted pendulum concept. The wheelchair system is modeled in the SimWise 4D (SW4D) with its optimized control parameters determined using the Spira...
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my.ump.umpir.306592021-02-09T07:52:21Z http://umpir.ump.edu.my/id/eprint/30659/ Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic Nurul Fadzlina, Jamin Nor Maniha, Abdul Ghani Zuwairie, Ibrahim TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations of control strategies for a two-wheeled wheelchair with a movable payload on various conditions using a double-link inverted pendulum concept. The wheelchair system is modeled in the SimWise 4D (SW4D) with its optimized control parameters determined using the Spiral Dynamic Algorithm (SDA) while being controlled by the proposed Interval Type-2 Fuzzy Logic Controller (IT2FLC). The robustness of the proposed controller in terms of maintaining the system's stability while the wheelchair is standing in an upright position is tested under multiple circumstances. These included utilizing varying directions and applying magnitudes of external disturbances to the developed system with a movable payload (upward and downward) and testing the system's forward and backward motions on a flat surface and the motions on an inclined surface. Ultimately, the two-wheeled wheelchair which adopts the proposed controller had shown a 68% and 77% reduction in the angular positions of Link1 and Link2, a 94% reduction in torques for both Link1 and Link2, and more than 98% reduction in traveling distance compared to the Fuzzy Logic Control Type-1 (FLCT1) controller which was used in the previous design. Moreover, the current work has taken into consideration the heightened nonlinearities and complexity of an additional moving payload on various conditions to represent more degree of freedom (DOF), compared to the fixed payload in the previous design with less DOF. This further rectifies that the enhanced IT2FLC had outperformed FLCT1 in handling nonlinearities and uncertainties, for the case of a two-wheeled wheelchair system with a movable payload. IEEE 2020-04-30 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/30659/1/IEEE%20Access_2020.pdf Nurul Fadzlina, Jamin and Nor Maniha, Abdul Ghani and Zuwairie, Ibrahim (2020) Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic. IEEE Access, 8. 87676 -87694. ISSN 2169-3536 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 10.1109/ACCESS.2020.2991433 |
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TK Electrical engineering. Electronics Nuclear engineering Nurul Fadzlina, Jamin Nor Maniha, Abdul Ghani Zuwairie, Ibrahim Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
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This paper presents investigations of control strategies for a two-wheeled wheelchair with a movable payload on various conditions using a double-link inverted pendulum concept. The wheelchair system is modeled in the SimWise 4D (SW4D) with its optimized control parameters determined using the Spiral Dynamic Algorithm (SDA) while being controlled by the proposed Interval Type-2 Fuzzy Logic Controller (IT2FLC). The robustness of the proposed controller in terms of maintaining the system's stability while the wheelchair is standing in an upright position is tested under multiple circumstances. These included utilizing varying directions and applying magnitudes of external disturbances to the developed system with a movable payload (upward and downward) and testing the system's forward and backward motions on a flat surface and the motions on an inclined surface. Ultimately, the two-wheeled wheelchair which adopts the proposed controller had shown a 68% and 77% reduction in the angular positions of Link1 and Link2, a 94% reduction in torques for both Link1 and Link2, and more than 98% reduction in traveling distance compared to the Fuzzy Logic Control Type-1 (FLCT1) controller which was used in the previous design. Moreover, the current work has taken into consideration the heightened nonlinearities and complexity of an additional moving payload on various conditions to represent more degree of freedom (DOF), compared to the fixed payload in the previous design with less DOF. This further rectifies that the enhanced IT2FLC had outperformed FLCT1 in handling nonlinearities and uncertainties, for the case of a two-wheeled wheelchair system with a movable payload. |
format |
Article |
author |
Nurul Fadzlina, Jamin Nor Maniha, Abdul Ghani Zuwairie, Ibrahim |
author_facet |
Nurul Fadzlina, Jamin Nor Maniha, Abdul Ghani Zuwairie, Ibrahim |
author_sort |
Nurul Fadzlina, Jamin |
title |
Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
title_short |
Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
title_full |
Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
title_fullStr |
Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
title_full_unstemmed |
Movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
title_sort |
movable payload on various conditions of two-wheeled double links wheelchair stability control using enhanced interval type-2 fuzzy logic |
publisher |
IEEE |
publishDate |
2020 |
url |
http://umpir.ump.edu.my/id/eprint/30659/1/IEEE%20Access_2020.pdf http://umpir.ump.edu.my/id/eprint/30659/ https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 |
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1691733274397769728 |
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13.160551 |