Neuro-Sliding Mode Multivariable Control of a Powered Wheelchair

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Conference Proceeding
Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2008, pp. 3471 - 3474
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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. Realtime 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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