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

Razali, Noorhelyna; Ghani, Nor Maniha Abdul; Jamin, N. F.; Masrom, M. F.

doi:10.1109/icsgrc.2018.8657514

Cited by 2 publications

(6 citation statements)

References 28 publications

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“…The schematic diagrams for the system in normal position (Figure 1 (a)), as well as when the wheelchair is transformed (Figure 1 (b)), are hereby illustrated in Figure 1. Figure 1 also figured out the turbulence for 360-degree rotation for the wheelchair in real simulation with the human load [41].…”

Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

“…The system used SimWise 4D for designing the model as a software module, as it is a powerful tool in which 3D multibody dynamic motion simulation was performed by analyzing and optimizing of 3D finite element, yet manageable simulative domain (Motion+FEA=4D) [41]. The integration of MATLAB/SIMULINK2015b considered as the second software to develop the system's controller towards controlling the wheelchair's performance, it worked as representative of the mechanical system in SimWise 4D where the whole system, inclusive of hydraulics, electronics, and controls, could be tested.…”

Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

“…The integration of MATLAB/SIMULINK2015b considered as the second software to develop the system's controller towards controlling the wheelchair's performance, it worked as representative of the mechanical system in SimWise 4D where the whole system, inclusive of hydraulics, electronics, and controls, could be tested. As such, the full design of the four to two-wheeled wheelchair model with load had been previously shown in [41], which covered basic dimensions and specifications of the system.…”

Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

“…The research objectives have hereby been achieved, following the completed results obtained from the trial and error method, as demonstrated in the previous paper [41]. All of the values obtained were then used for the purpose of optimization towards improving the controller.…”

Section: Spiral Dynamic Algorithm Optimizationmentioning

confidence: 99%

“…Figure 1. Schematic diagram of the wheelchair in, (a) normal position, (b) during transformation[41] …”

mentioning

confidence: 99%

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Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

2021

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The current study emphasizes on improving an interval type-2 fuzzy logic control (IT2FLC) system through the use of spiral dynamics algorithm (SDA) optimization in stabilizing a transformational two-wheeled wheelchair. The main contribution of this research is to reduce vibrations while performing the lifting and stabilization of a wheelchair from its standard four-wheeled to two-wheeled transformation. IT2FLC based SDA was used to enhance the system’s stability performance by obtaining the optimized value for input and output controller gains and IT2FLC parameters for IT2FLC. System modeling was done through development within the SimWise 4D software environment, which was then integrated with MATLAB/SIMULINK for control purposes. The proposed algorithm has demonstrated improved tilt angle performance with reduced noise and lower torque when various disturbances were applied, as compared to a system solely controlled by IT2FLC without any optimization. Moreover, the proposed algorithm has also comprehensively outperformed previous controllers in terms of system’s stability, further demonstrated its superiority as a system controller within transformational wheelchairs.

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Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

Section: Methodology 21 System Model and Parametersmentioning

confidence: 99%

Section: Spiral Dynamic Algorithm Optimizationmentioning

confidence: 99%

“…Figure 1. Schematic diagram of the wheelchair in, (a) normal position, (b) during transformation[41] …”

mentioning

confidence: 99%

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Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

2021

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Control Systems and Electronic Instrumentation Applied to Autonomy in Wheelchair Mobility: The State of the Art

Callejas-Cuervo

Gonźalez-Cely

Bastos

2020

Sensors

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Automatic wheelchairs have evolved in terms of instrumentation and control, solving the mobility problems of people with physical disabilities. With this work it is intended to establish the background of the instrumentation and control methods of automatic wheelchairs and prototypes, as well as a classification in each category. To this end a search of specialised databases was carried out for articles published between 2012 and 2019. Out of these, 97 documents were selected based on the inclusion and exclusion criteria. The following categories were proposed for these articles: (a) wheelchair instrumentation and control methods, among which there are systems that implement micro-electromechanical sensors (MEMS), surface electromyography (sEMG), electrooculography (EOG), electroencephalography (EEG), and voice recognition systems; (b) wheelchair instrumentation, among which are found obstacle detection systems, artificial vision (image and video), as well as navigation systems (GPS and GSM). The results found in this review tend towards the use of EEG signals, head movements, voice commands, and algorithms to avoid obstacles. The most used techniques involve the use of a classic control and thresholding to move the wheelchair. In addition, the discussion was mainly based on the characteristics of the user and the types of control. To conclude, the articles exhibited the existing limitations and possible solutions in their designs, as well as informing the physically disabled community about the technological developments in this field.

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

Cited by 2 publications

References 28 publications

Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

Control Systems and Electronic Instrumentation Applied to Autonomy in Wheelchair Mobility: The State of the Art

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