Rejection of yaw disturbance in a two-wheeled wheelchair system

Rejection of yaw disturbance in a two-wheeled wheelchair system

In this paper, a virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The goal is to have stable two-wheeled WC by transforming the two front wheels (caster) to the upright position. Th...

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Bibliographic Details
Main Authors: Ahmad, Salmiah, Tokhi, M. Osman, Hussain, Zakaria
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/2050/
http://irep.iium.edu.my/2050/
http://irep.iium.edu.my/2050/1/569180039.pdf
id iium-2050
recordtype eprints
spelling iium-20502011-09-20T02:33:52Z http://irep.iium.edu.my/2050/ Rejection of yaw disturbance in a two-wheeled wheelchair system Ahmad, Salmiah Tokhi, M. Osman Hussain, Zakaria TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering In this paper, a virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The goal is to have stable two-wheeled WC by transforming the two front wheels (caster) to the upright position. Theoretically, when the two big wheels are fed by the same torque, the WC system will only move in one (x-) direction (with a small forward and backward movement before settlement is achieved). On the other hand, WC in VN produces action-reaction forces in terms of friction between the wheels and the defined ground that lead to small degree of rotation with respect to vertical z- axis, (yaw disturbance). Fuzzy logic control is designed in order to eliminate this unwanted rotation of the wheels during lifting and stabilizing phase. Results show that the unwanted rotation of the wheels is successfully reduced. 2009-06-12 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2050/1/569180039.pdf Ahmad, Salmiah and Tokhi, M. Osman and Hussain, Zakaria (2009) Rejection of yaw disturbance in a two-wheeled wheelchair system. In: Third Asia International Conference on Modelling & Simulation, AMS '09. , 25 - 29 May, 2009. http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5072029&queryText%3DRejection+of+yaw+disturbance+in+a+two-wheeled+wheelchair+system%26openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26searchField%3DSearch+All
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
TJ212 Control engineering
spellingShingle TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
TJ212 Control engineering
Ahmad, Salmiah
Tokhi, M. Osman
Hussain, Zakaria
Rejection of yaw disturbance in a two-wheeled wheelchair system
description In this paper, a virtual wheelchair (WC) model is developed within Visual Nastran (VN) software environment where the model is further linked with Matlab/Simulink for control purposes. The goal is to have stable two-wheeled WC by transforming the two front wheels (caster) to the upright position. Theoretically, when the two big wheels are fed by the same torque, the WC system will only move in one (x-) direction (with a small forward and backward movement before settlement is achieved). On the other hand, WC in VN produces action-reaction forces in terms of friction between the wheels and the defined ground that lead to small degree of rotation with respect to vertical z- axis, (yaw disturbance). Fuzzy logic control is designed in order to eliminate this unwanted rotation of the wheels during lifting and stabilizing phase. Results show that the unwanted rotation of the wheels is successfully reduced.
format Conference or Workshop Item
author Ahmad, Salmiah
Tokhi, M. Osman
Hussain, Zakaria
author_facet Ahmad, Salmiah
Tokhi, M. Osman
Hussain, Zakaria
author_sort Ahmad, Salmiah
title Rejection of yaw disturbance in a two-wheeled wheelchair system
title_short Rejection of yaw disturbance in a two-wheeled wheelchair system
title_full Rejection of yaw disturbance in a two-wheeled wheelchair system
title_fullStr Rejection of yaw disturbance in a two-wheeled wheelchair system
title_full_unstemmed Rejection of yaw disturbance in a two-wheeled wheelchair system
title_sort rejection of yaw disturbance in a two-wheeled wheelchair system
publishDate 2009
url http://irep.iium.edu.my/2050/
http://irep.iium.edu.my/2050/
http://irep.iium.edu.my/2050/1/569180039.pdf
first_indexed 2023-09-18T20:09:34Z
last_indexed 2023-09-18T20:09:34Z
_version_ 1777407387123056640

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