Optimal path-following control of a smart powered wheelchair.

Publication Type:
Conference Proceeding
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2008, pp. 5025 - 5028
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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.
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