Neuro-sliding mode multivariable control of a powered wheelchair.

Nguyen, N; Nguyen, HT; Su, S

Neuro-sliding mode multivariable control of a powered wheelchair.

Nguyen, N

Nguyen, HT

Su, S

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Publication Type:: Conference Proceeding
Citation:: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2008, pp. 3471 - 3474
Issue Date:: 2008-12-01

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Field	Value	Language
dc.contributor.author	Nguyen, N https://orcid.org/0000-0002-9958-9876	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.contributor.author	Su, S https://orcid.org/0000-0002-5720-8852	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2008, pp. 3471 - 3474	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12005
dc.description.abstract	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.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DP0666942
dc.relation	http://purl.org/au-research/grants/arc/LE0668541
dc.relation.ispartof	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference	en_US
dc.subject.mesh	Neurons	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Paraplegia	en_US
dc.subject.mesh	Models, Statistical	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Electric Stimulation	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Movement	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Neural Networks (Computer)	en_US
dc.subject.mesh	Time Factors	en_US
dc.subject.mesh	Feedback	en_US
dc.subject.mesh	Computer Simulation	en_US
dc.subject.mesh	Neural Networks, Computer	en_US
dc.title	Neuro-sliding mode multivariable control of a powered wheelchair.	en_US
dc.type	Conference Proceeding
utslib.for	0903 Biomedical Engineering	en_US
dc.location.activity	Vancouver, Canada	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

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.

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http://hdl.handle.net/10453/12005