Implementation of parallel fuzzy logic controller in FPGA circuit for guiding electric wheelchair

Abstract

This paper describes an implementation of a fuzzy logic control system for guiding a wheelchair, using an architecture based on a FPGA circuit. For this purpose, a dedicated architecture was elaborated, which was simulated in FPGA circuit. Input and output linguistic variables and corresponding fuzzy sets were defined and based on those a fuzzy rule base was formed. The proposed fuzzy system cooperates with two permanent magnet DC motors, which are controlled by an inverter operating in configuration of H-bridge.