PD-fuzzy Control of a Stair Climbing Wheelchair

This paper focuses on the development of a control strategy of a compact stair climbing wheelchair to maintain stable and balance while negotiating staircases in confined spaces for the elderly and disabled. The Visual Nastran 4D is used to develop a simulation models and linked with Matlab platform for control and visual assessment purposes. The challenges are to control front and rear motors as well as tilt angle to ensure system stability and maintain smoothness of the climbing process. PD-Fuzzy controls are developed, tested and associated performances are assessed through intensive visual approach.