Self-balancing iBOT-like wheelchair based on type-1 and interval type-2 fuzzy control

This paper focuses on development of a wheelchair model and further on proposing a novel control strategy based on fuzzy logic control in order to lift the front wheels and maintain system stability in the upright position. A type-1 TSK FLS is first introduced to handle stability when the wheelchair is in an inverted pendulum-like situation. An extra control loop is designed to stop the motion after the system is stable. Then an interval type-2 TSK FLS is further developed by blurring the boundaries of the membership functions used in type-1 design. The effectiveness of the two type controllers is shown in the simulation results.