title: Neural network based diagonal decoupling control of powered wheelchair systems.
abstract: This paper proposes an advanced diagonal decoupling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonalization technique and the neural network control design. As such, this control method reduces coupling effects on a multivariable system, leading to independent control design procedures. Using an obtained dynamic model, the problem of the plant's Jacobian calculation is eliminated in a neural network control design. The effectiveness of the proposed control method is verified in a real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty effects.
authors: Tuan Nghia
authors: TN
authors: Nguyen
authors: Steven
authors: S
authors: Su
authors: Hung T
authors: HT
authors: Nguyen
mesh_terms: D000465:Algorithms; D001835:Body Weight; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D015233:Models, Statistical; D016571:Neural Networks, Computer; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation; D013499:Surface Properties; D014910:Wheelchairs