An adaptive fuzzy control algorithm for a powered wheelchair

David Adrian Sanders; Alexander Emilov Gegov

An adaptive fuzzy control algorithm for a powered wheelchair

David Adrian Sanders, Alexander Emilov Gegov

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Abstract

In this short paper, an adaptive fuzzy control algorithm for a powered wheelchair is discussed that may be advantageous compared to conventional nonlinear saturation controllers. Stability of the proposed controllers has been derived using the Lyapunaov energy function. Design is simple and uses fuzzy rules and simple control strategies. Simulation results show that the control strategy reduces control effort.

Original language	English
Article number	3
Pages (from-to)	302-304
Number of pages	3
Journal	Journal of Intelligent Mobility
Volume	16
Issue number	3
Publication status	Published - 1 Jun 2013

Keywords

Parametric Uncertainty, Lyapunov, Adaptive Control, Fuzzy Control, Wheelchair.

Ways to assist powered wheelchair users
Sanders, D., Stott, I., Goodwin, M. J., Langner, M., Tewkesbury, G., Graham-Jones, J. & Gegov, A.
8/02/99 → 9/07/16
Project: Innovation

Cite this

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title = "An adaptive fuzzy control algorithm for a powered wheelchair",

abstract = "In this short paper, an adaptive fuzzy control algorithm for a powered wheelchair is discussed that may be advantageous compared to conventional nonlinear saturation controllers. Stability of the proposed controllers has been derived using the Lyapunaov energy function. Design is simple and uses fuzzy rules and simple control strategies. Simulation results show that the control strategy reduces control effort.",

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AB - In this short paper, an adaptive fuzzy control algorithm for a powered wheelchair is discussed that may be advantageous compared to conventional nonlinear saturation controllers. Stability of the proposed controllers has been derived using the Lyapunaov energy function. Design is simple and uses fuzzy rules and simple control strategies. Simulation results show that the control strategy reduces control effort.

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An adaptive fuzzy control algorithm for a powered wheelchair

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Ways to assist powered wheelchair users

Cite this