Wheeled human transportation vehicle implementation using output recurrent fuzzy control strategy

Human being assistant transportation systems have received much attention in recent years. This study proposes a wheeled human transportation vehicle (WHTV). Two‐wheeled vehicles have been known as powerful transporters for urban areas. Based on a low‐level microprocessor, a WHTV is designed and implemented in this study. Moreover, a Mamdani‐like output recurrent fuzzy controller (MLORFC) is used to control the WHTV in this study. As the MLORFC obtains system dynamics, it is better than the traditional Mamdani‐type fuzzy controllers in terms of dynamic response. A necessary condition based on the Lyapunov stability analysis is established to guarantee the system stability. The recurrent weights are tuned on‐line using the dynamic gradient descent method. The learning rates of the recurrent weights are automatically settled based on a Lyapunov analytical method to achieve the system error convergence. The experiment results in Section 4 show that the conveyance platform can stably move under the proposed control strategy.