The Application of Fuzzy Logic Control to Balance a Wheelchair

Abstract

The objective of this research project is to construct an affordable and durable stand-up wheelchair, which will enable wheelchair users to adjust the vertical height of their chair while still remaining seated. The mechanical design, together with the lifting mechanism, demonstrates the ability of the wheelchair to lift up the front wheels (casters), and ride solely on the rear wheels. The control structures of the wheelchairs, based on Fuzzy Logic Type-1 and Type-2, are aimed at enabling the user to maintain stability when moving on two wheels. This project will compare simulation and experimental results to illustrate the effectiveness of each control scheme.