Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization

Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the s...

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Main Authors:	Nurul Fadzlina, Jamin, Normaniha, Abd Ghani
Format:	Conference or Workshop Item
Language:	English English
Published:	IEEE 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/17710/ http://umpir.ump.edu.my/id/eprint/17710/ http://umpir.ump.edu.my/id/eprint/17710/1/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control.pdf http://umpir.ump.edu.my/id/eprint/17710/7/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control1.pdf

id	ump-17710
recordtype	eprints
spelling	ump-177102018-02-05T02:08:49Z http://umpir.ump.edu.my/id/eprint/17710/ Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization Nurul Fadzlina, Jamin Normaniha, Abd Ghani TK Electrical engineering. Electronics Nuclear engineering Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the state-space representation is applied to the Simulink block diagram in Matlab. The control parameter of the system is compared between trial-and-error method and Particle Swarm Optimization (PSO) algorithm. This strategy is to find the optimal value for the system to get better performance. The system will be simulated using Fuzzy Logic Control (FLC) and FLC-PSO using Matlab/Simulink environment. Simulation results show that the FLC-PSO is better than FLC in terms of overshoot and settling time. IEEE 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/17710/1/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/17710/7/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control1.pdf Nurul Fadzlina, Jamin and Normaniha, Abd Ghani (2016) Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), 22 October 2016 , Shah Alam, Malaysia. pp. 180-185.. ISBN 978-1-5090-4186-2 https://doi.org/10.1109/I2CACIS.2016.7885293
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nurul Fadzlina, Jamin Normaniha, Abd Ghani Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
description	Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the state-space representation is applied to the Simulink block diagram in Matlab. The control parameter of the system is compared between trial-and-error method and Particle Swarm Optimization (PSO) algorithm. This strategy is to find the optimal value for the system to get better performance. The system will be simulated using Fuzzy Logic Control (FLC) and FLC-PSO using Matlab/Simulink environment. Simulation results show that the FLC-PSO is better than FLC in terms of overshoot and settling time.
format	Conference or Workshop Item
author	Nurul Fadzlina, Jamin Normaniha, Abd Ghani
author_facet	Nurul Fadzlina, Jamin Normaniha, Abd Ghani
author_sort	Nurul Fadzlina, Jamin
title	Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
title_short	Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
title_full	Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
title_fullStr	Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
title_full_unstemmed	Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization
title_sort	two-wheeled wheelchair stabilization control using fuzzy logic controller based particle swarm optimization
publisher	IEEE
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/17710/ http://umpir.ump.edu.my/id/eprint/17710/ http://umpir.ump.edu.my/id/eprint/17710/1/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control.pdf http://umpir.ump.edu.my/id/eprint/17710/7/fkee-2016-nurul-%20Two-Wheeled%20Wheelchair%20Stabilization%20Control1.pdf
first_indexed	2023-09-18T22:24:37Z
last_indexed	2023-09-18T22:24:37Z
_version_	1777415883188076544

Two-Wheeled Wheelchair Stabilization Control Using Fuzzy Logic Controller Based Particle Swarm Optimization

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