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Novel straight and circular road driving control of electric power assisted wheelchair based on fuzzy algorithm
Author(s) -
Seki Hirokazu,
Tadakuma Susumu
Publication year - 2009
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20846
Subject(s) - wheelchair , torque , fuzzy logic , power (physics) , scheme (mathematics) , fuzzy control system , angular velocity , control (management) , engineering , electric vehicle , algorithm , control theory (sociology) , computer science , simulation , automotive engineering , mathematics , artificial intelligence , physics , mathematical analysis , quantum mechanics , world wide web , thermodynamics
This paper describes a novel straight and circular road driving control scheme for electric power‐assisted wheelchairs. “Electric power‐assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel driving control scheme based on fuzzy algorithm to realize stable and reliable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity of the wheelchair and the human input torque proportion of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 170(1): 36–44, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20846