The control schemes of a wheelchair having two-wheels with movable payload utilizing the concept of a double-link inverted pendulum have been investigated in this article. The proposed wheelchair has been simulated using SimWise 4D software considering the most efficient parameters. These parameters are extracted using the spiral dynamic algorithm (SDA) while being controlled with interval type-2 fuzzy logic controller (IT2FLC). The robustness and stability of the implemented controller are assessed under different situations including standing upright, forward motion and application of varying directions and magnitudes of outer disturbances to movable (up and down) system payload. It is shown that the two-wheeled wheelchair adopted by the newly introduced controller has achieved a 94 percent drop in torque for both Link1 and Link2 and more than 98 percent fall in distance traveled in comparison with fuzzy logic control type-1 (FLCT1) controller employed in an earlier design. The present study has further considered the increased non-linearity and complexity of the additional moving payload. From the outcome of this study, it is obvious that the proposed IT2FLC-SDA demonstrates batter performance than FLCT1 to manage the uncertainties and non-linearities in case of a movable payload two-wheel wheelchair system.

中文翻译：

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基于优化间隔2型模糊逻辑的可移动负载两轮轮椅稳定控制

本文研究了利用双连杆倒立摆概念的具有可移动有效载荷的两轮轮椅的控制方案。考虑到最有效的参数，已使用 SimWise 4D 软件对提议的轮椅进行了模拟。这些参数是使用螺旋动态算法 (SDA) 提取的，同时由区间 2 型模糊逻辑控制器 (IT2FLC) 控制。在不同情况下评估所实现控制器的鲁棒性和稳定性，包括直立、向前运动以及将不同方向和大小的外部干扰应用于可移动（上下）系统有效载荷。结果表明，与模糊逻辑控制类型 1 (FLCT1) 控制器相比，新推出的控制器采用的两轮轮椅实现了 Link1 和 Link2 94% 的扭矩下降和 98% 以上的行驶距离下降在早期设计中使用。本研究进一步考虑了额外移动有效载荷增加的非线性和复杂性。从这项研究的结果来看，很明显，在可移动有效载荷两轮轮椅系统的情况下，所提出的 IT2FLC-SDA 在管理不确定性和非线性方面比 FLCT1 表现出更好的性能。本研究进一步考虑了额外移动有效载荷增加的非线性和复杂性。从这项研究的结果来看，很明显，在可移动有效载荷两轮轮椅系统的情况下，所提出的 IT2FLC-SDA 在管理不确定性和非线性方面比 FLCT1 表现出更好的性能。本研究进一步考虑了额外移动有效载荷增加的非线性和复杂性。从这项研究的结果来看，很明显，在可移动有效载荷两轮轮椅系统的情况下，所提出的 IT2FLC-SDA 在管理不确定性和非线性方面比 FLCT1 表现出更好的性能。