Neuro-sliding mode multivariable control of a 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. 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. 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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