An Intelligent Robotic Wheelchair Control Model for Enhanced Ride Comfort with Passenger’s Body Vibration Suppression

• Main Authors: Huang, Jyun-Jr, 黃濬智
• Other Authors: Chiang, Hsin-Han
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/51106042891847255887

碩士 === 輔仁大學 === 電機工程學系 === 100 === This thesis presents a velocity driving control model of a powered wheelchair for considering the riding comfort in terms of sway suppression of the rider. This control model aims to provide comfortable ride during the velocity control of wheelchair. To this end, a passenger model which consists of rider’s physical frame and seating condition is firstly derived for designing the comfort control model. Through fuzzy modeling of the passenger’s posture behavior, the design problem is converted into a passenger’s sway minimization problem such that the optimal fuzzy control methodology via linear matrix inequality (LMI) can be utilized to design the wheelchair control model. Moreover, to advance the practical implementation of this model, the adaptive neural fuzzy inference system (ANFIS) is adopted to learn the controlling process from practically measurable states, such as acceleration, current speed, the maximum specified speed, and the strain variation of wheelchair backrest and seat. By controlling the wheelchair’s acceleration, the developed control model is able to keep riders feeling comfortable. The simulation results and experimental evaluation demonstrate the effectiveness of the proposed control model.