{'fraction_non_alphanumeric': 0.017412935323383085, 'fraction_numerical': 0.0, 'mean_word_length': 5.652892561983471, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Robust H∞ Fuzzy Logic Control of Intelligent Electrically Powered Wheelchair

A robust H∞ Fuzzy Logic Control structure for a two-wheeled intelligent electrically powered wheelchair is proposed in this paper, which can compensate the effects caused by unmodeled dynamics, disturbances, approximate errors and varying external load acting on the drive system. The control structure employs a fuzzy logic controller with a simple structure incorporating an H∞ controller based on an iterative linear matrix inequality algorithm via an acceleration feedback signal. The proposed scheme is easy to be carried on practical wheelchairs and robust to variance of the motor dynamics, sensor noise, and unmodeled vehicle dynamics. Finally, the simulation experiments show the effectiveness of the proposed scheme.