A fuzzy-model-based gravity center adjustment and inclination control for stair-climbing wheelchair

Balance control is a critical step to ensure tip-over stability for stair-climbing wheelchair. This paper presents a novel fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair. The proposed fuzzy controller is designed based the kinematic relationship between the position of the gravity centre and the obliquity of the wheelchair in obstacle environments. It optimally compensates for changing of the gravity centre by adjusting obliquity of the wheelchair using a pair of actuators. To validate the proposed method, we have carried out simulations and experiments. The results demonstrate that the proposed method can efficiently compensate for changing of the gravity center to prevent the overturn.