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This paper presents development of a fuzzy logic control (FLC) system with bio-inspired optimization algorithm for reference tracking control of a single-link flexible manipulator. In the proposed controller, a modified invasive weed optimization (MIWO) algorithm is employed to optimize the tuning parameters of fuzzy logic controller. Invasive weed optimization (IWO) is a bio-inspired search algorithm...
This paper presents an investigation into a system model for the stabilisation of a Magnetic Levitation System (Maglev's). The magnetic levitation system is a challenging nonlinear mechatronic system in which an electromagnetic force is required to suspend an object (metal sphere) in the air. The electromagnetic force is very sensitive to the noise which can create acceleration forces on the metal...
In this work, a new approach based on spiral dynamic algorithm (SDA) is implemented to optimize the input output of fuzzy scaling factors of a stair ascending operation using a wheelchair. The ascending task is done automatically using interchangeable phases control structure using modular fuzzy logic (IPFL). The value obtained from the SDA optimization is compared with heuristic gain value to access...
A novel configuration of two-wheeled robotic vehicle with five degrees of freedom (DOF) is presented in this paper. The vehicle is based on double inverted pendulum system with a unique movable payload actuator to enable lifting the payload to a demanded height. A mathematical model is derived incorporating a friction model and plane inclination angle to give the vehicle the ability to manoeuvre on...
A novel design of two-wheeled double inverted pendulum-like vehicle with a movable payload is presented in this paper. The developed design extends the abilities of the vehicle with five degrees of freedom. The increase of degrees of freedom provides the vehicle with more flexibility in maneuvering in narrow spaces and limited travel distances. The dynamic model of the system is derived using Euler-Lagrange...
This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both...
This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion...
This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy...
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