Optimization of fuzzy logic scaling parameters with spiral dynamic algorithm in controlling a stair climbing wheelchair: Ascending task

In this work, a new approach based on spiral dynamic algorithm (SDA) is implemented to optimize the input output of fuzzy scaling factors of a stair ascending operation using a wheelchair. The ascending task is done automatically using interchangeable phases control structure using modular fuzzy logic (IPFL). The value obtained from the SDA optimization is compared with heuristic gain value to access the performance of the stair climbing operation. The proposed approach has improved the climbing performance in terms of minimizing the error of seat/tilt angle for user´s comfort while reducing the settling time of the ascending operation.