TY  - JOUR
AB  - This paper proposes an advanced diagonal decou- pling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonaliza- tion 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 plants 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.
AU  - Nguyen, N
AU  - Su, SW
AU  - Nguyen, HT
DA  - 2014/01/01
DO  - 10.1109/TNSRE.2013.2276456
EP  - 378
JO  - IEEE Transactions on Neural Systems and Rehabilitation Engineering
PB  - IEEE
PY  - 2014/01/01
SP  - 371
TI  - Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems
VL  - 22
Y1  - 2014/01/01
Y2  - 2026/05/17
ER  -