Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing

In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the wheelchair in two-wheeled mode. A virtual wheelchair (WC) model is developed within Visual Nastran (VN) sof...

Full description

Bibliographic Details
Main Authors:	Ahmad, Salmiah, Tokhi, M. Osman, Toha, Siti Fauziah
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TJ212 Control engineering TK7885 Computer engineering
Online Access:	http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf

id	iium-2157
recordtype	eprints
spelling	iium-21572012-10-02T00:05:22Z http://irep.iium.edu.my/2157/ Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah TJ212 Control engineering TK7885 Computer engineering In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the wheelchair in two-wheeled mode. 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 lifting of the chair is done by transforming the first link, attached to the front wheels (casters) to the upright position while maintaining stability of the second link where the payload is attached. General rules of thumb allow heuristic tuning of the parameters but a proper optimisation mechanism will perform better. Genetic Algorithm is used to control the two-wheeled wheelchair and results show that the optimised parameters give better system performance. 2009-12-28 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf Ahmad, Salmiah and Tokhi, M. Osman and Toha, Siti Fauziah (2009) Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing. In: 2009 Third UKSim Symposium on Computer Modeling and Simulation (EMS 2009), 25-27 Nov. 2009, Athens. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5358808
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering TK7885 Computer engineering
spellingShingle	TJ212 Control engineering TK7885 Computer engineering Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
description	In this paper, an optimisation technique is adopted to manipulate the input and output scaling of a fuzzy logic controller for lifting the front wheels of a wheelchair and stabilizing the wheelchair in two-wheeled mode. 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 lifting of the chair is done by transforming the first link, attached to the front wheels (casters) to the upright position while maintaining stability of the second link where the payload is attached. General rules of thumb allow heuristic tuning of the parameters but a proper optimisation mechanism will perform better. Genetic Algorithm is used to control the two-wheeled wheelchair and results show that the optimised parameters give better system performance.
format	Conference or Workshop Item
author	Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah
author_facet	Ahmad, Salmiah Tokhi, M. Osman Toha, Siti Fauziah
author_sort	Ahmad, Salmiah
title	Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
title_short	Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
title_full	Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
title_fullStr	Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
title_full_unstemmed	Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
title_sort	genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing
publishDate	2009
url	http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/ http://irep.iium.edu.my/2157/1/Genetic_algorithm_optimisation_for_fuzzy_control_of_wheelchair_lifting_and_balancing.pdf
first_indexed	2023-09-18T20:09:41Z
last_indexed	2023-09-18T20:09:41Z
_version_	1777407394366619648

Genetic algorithm optimisation for fuzzy control of wheelchair lifting and balancing

Similar Items