Neuro-sliding mode multivariable control of a powered wheelchair.
This paper proposes a neuro-sliding mode multivariable control approach for the control of a powered wheelchair system. In the first stage, a systematic decoupling technique is applied to the wheelchair system in order to reduce the multivariable control problem into two independent scalar control problems. Then two Neuro-Sliding Mode Controllers (NSMCs) are designed for these independent subsystems to guarantee system robustness under model uncertainties and unknown external disturbances. Both off-line and on-line trainings are involved in the second stage. Real-time experimental results confirm that robust performance for this multivariable wheelchair control system under model uncertainties and unknown external disturbances can indeed be achieved.
Nguyen
Nghia
N
University of Technology, Sydney, Broadway, NSW, Australia. tnnguyen@eng.uts.edu.au
Nguyen
Hung T
HT
Su
Steven
S
D000465:Algorithms; D003198:Computer Simulation; D004558:Electric Stimulation; D004867:Equipment Design; D005246:Feedback; D006801:Humans; D015233:Models, Statistical; D009068:Movement; D016571:Neural Networks, Computer; D009474:Neurons / Q000378:metabolism / Q000473:pathology; D010264:Paraplegia / Q000534:rehabilitation*; D013997:Time Factors; D014910:Wheelchairs