Optimal path-following control of a smart powered wheelchair.
This paper proposes an optimal path-following control approach for a smart powered wheelchair. Lyapunov's second method is employed to find a stable position tracking control rule. To guarantee robust performance of this wheelchair system even under model uncertainties, an advanced robust tracking is utilised based on the combination of a systematic decoupling technique and a neural network design. A calibration procedure is adopted for the wheelchair system to improve positioning accuracy. After the calibration, the accuracy is improved significantly. Two real-time experimental results obtained from square tracking and door passing tasks confirm the performance of proposed approach.
Nguyen
Nghia
N
Faculty of Engineering, University of Technology, Sydney, Broadway, NSW 2007, Australia. tnnguyen@eng.uts.edu.au
Nguyen
Hung T
HT
Su
Steven
S
D000465:Algorithms; D001185:Artificial Intelligence; D003205:Computing Methodologies; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics / Q000379:methods*; D014910:Wheelchairs