Stabilization of Two-wheeled Wheelchair with Movable Payload Based Interval Type-2 Fuzzy Logic Controller

  • N. F. JaminEmail author
  • N. M. A. Ghani
  • Z. Ibrahim
  • M. F. Masrom
  • N. A. A. Razali
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


In this paper, an Interval Type-2 Fuzzy Logic Control (IT2FLC) is proposed to control a stabilization of two-wheeled wheelchair system with moving payload. The two-wheeled wheelchair system is similarly with double-links inverted pendulum system but with additional of movable payload up to 0.3 m to reach a higher level of height. Thus, this two-wheeled wheelchair configuration becomes more complex, unstable and highly nonlinear system. The 300 N concentrated force is applied at the back of the wheelchair seat in two conditions; in the initial condition before the payload is lifted and in the maximum height of the payload to test the robustness of the controller. SimWise 4D (SW4D) software is used to develop a 3-Dimensional (3D) model of the two-wheeled wheelchair, which replaces a complex mathematical representation. The SW4D is used to visualize the movement of the system as it is integrated with Matlab Simulink. IT2FLC will be compared with Fuzzy Logic Control Type 1 (FLCT1) and the simulation results show that the IT2FLC give a good performance in term of angular position of both links in the upright position and maintain stable.


Two-wheeled wheelchair with movable payload Double-link inverted pendulum Interval Type-2 fuzzy logic control SimWise 4D 



The work presented in the paper has been supported by Research Grant PGRS170344 from the Research and Innovation Department, Universiti Malaysia Pahang and sponsored by Mybrain15, Ministry of Education Malaysia.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • N. F. Jamin
    • 1
    Email author
  • N. M. A. Ghani
    • 1
  • Z. Ibrahim
    • 2
  • M. F. Masrom
    • 1
  • N. A. A. Razali
    • 1
  1. 1.Department of Electrical & Electronics EngineeringUniversiti Malaysia PahangPekanMalaysia
  2. 2.Department of Manufacturing EngineeringUniversiti Malaysia PahangPekanMalaysia

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