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Modelling and control of a wheelchair on two wheels

Wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In fact it offers great advantages and efficiency for the user. Besides allowing a disabled to lead independent life, it is expected not to take much space dur...

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Main Authors: Ahmad, Salmiah, Tokhi, M. O.
Format: Conference or Workshop Item
Language:English
Published: 2008
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/2163/1/04530540.pdf
http://irep.iium.edu.my/2163/
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spelling my.iium.irep.21632012-05-11T03:33:23Z http://irep.iium.edu.my/2163/ Modelling and control of a wheelchair on two wheels Ahmad, Salmiah Tokhi, M. O. TJ212 Control engineering Wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In fact it offers great advantages and efficiency for the user. Besides allowing a disabled to lead independent life, it is expected not to take much space during mobility as compared to when it is on four wheels and thus a wheelchair on two wheels has associated design and development challenges. These include modelling and controller design for the system to perform comparably similar to normal four-wheeled wheelchair. In this paper physical model of a wheelchair on two wheels that mimics double inverted pendulum is designed and a novel fuzzy logic control mechanism is developed and tested with control of the two-wheeled wheelchair. 2008-05-23 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/2163/1/04530540.pdf Ahmad, Salmiah and Tokhi, M. O. (2008) Modelling and control of a wheelchair on two wheels. In: Second Asia International Conference on Modeling & Simulation, 2008. AICMS 08. , 13 - 15 May 2008, Kuala Lumpur, Malaysia.
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Ahmad, Salmiah
Tokhi, M. O.
Modelling and control of a wheelchair on two wheels
description Wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In fact it offers great advantages and efficiency for the user. Besides allowing a disabled to lead independent life, it is expected not to take much space during mobility as compared to when it is on four wheels and thus a wheelchair on two wheels has associated design and development challenges. These include modelling and controller design for the system to perform comparably similar to normal four-wheeled wheelchair. In this paper physical model of a wheelchair on two wheels that mimics double inverted pendulum is designed and a novel fuzzy logic control mechanism is developed and tested with control of the two-wheeled wheelchair.
format Conference or Workshop Item
author Ahmad, Salmiah
Tokhi, M. O.
author_facet Ahmad, Salmiah
Tokhi, M. O.
author_sort Ahmad, Salmiah
title Modelling and control of a wheelchair on two wheels
title_short Modelling and control of a wheelchair on two wheels
title_full Modelling and control of a wheelchair on two wheels
title_fullStr Modelling and control of a wheelchair on two wheels
title_full_unstemmed Modelling and control of a wheelchair on two wheels
title_sort modelling and control of a wheelchair on two wheels
publishDate 2008
url http://irep.iium.edu.my/2163/1/04530540.pdf
http://irep.iium.edu.my/2163/
_version_ 1643604919534485504
score 13.211869

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