Abstract
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.
Highlights
A wheelchair is known to be a vital tool in providing mobility for the elderly, as well as the disabled community, to travel between destinations
Based on the fact that the controllers were analyzed within the current study, different parameters for Interval Type-2 Fuzzy Logic Controller (IT2FLC), and Spiral Dynamic Algorithm (SDA)-IT2FLC are described in Table 5, which would be used to stabilize the two-wheeled wheelchair system in performing the designated tasks
In this paper, the enhanced IT2FLC approach used to stabilize a two-wheeled wheelchair with a movable payload in various conditions has been proposed, while the reconfiguration of the wheelchair modeled upon the SimWise 4D (SW4D) environment
Summary
A wheelchair is known to be a vital tool in providing mobility for the elderly, as well as the disabled community, to travel between destinations. The standard four-wheeled wheelchairs were found to have some limitations due to their control mechanism and their design, mainly the lack of height control that limits its level for vertical reach, and the bulky design that presents difficulties to move in narrow spaces. Thereby, this model was further enhanced, which enables a twowheeled transformation that improves its performance, while
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