Stair climbing by wheelchair is a highly nonlinear process that needs a robust controller without which can results in dangerous conditions such as tipping over. In this thesis the modelling and fuzzy sliding mode controller design of stair climbing wheelchairs is discussed. Among the available mechanisms for stair climbing wheelchair such as tracked type, legged type and planetary wheeled mechanisms, the third one is chosen for its simplicity of mechanical design and cost effectiveness. This mechanism is modified somehow to ease the controller action. This is done by adding a revolute joint between the base of the planetary wheel and the seat of the wheelchair. It is driven by motor to adjust seat angle for maintaining stability during climbing process. The modelling of the mechanism is done using newton Euler formulation. It is seen that the overall system has nearly similar equation as inverted pendulum system going in a tilted or sloppy surface. A robust fuzzy sliding mode controller (FSMC) is designed to automatically ensure stability of the wheelchair while ascending and descending. It is by keeping the upright position of the wheelchair. The simulation is done using MATLAB/SIMULINK and from the simulation result it is seen that the controller is effective in terms of both fast response and insensitivity to random disturbances (robustness)
CONTROL OF STAIR CLIMBING WHEELCHAIR USING FUZZY SLIDING MODE CONTROLLER
2020-11-26
doi:10.20372/nadre/19750
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
Multifunctional tracked robot type stair-climbing wheelchair
Europäisches Patentamt | 2015
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