Advanced robust tracking control of a powered wheelchair system.

Nguyen, NT; Nguyen, HT; Su, S

Advanced robust tracking control of a powered wheelchair system.

Nguyen, NT

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, 2007, pp. 4767 - 4770
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Nguyen, NT 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	2007-12-01	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, 2007, pp. 4767 - 4770	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2781
dc.description.abstract	In this paper, the dynamic multivariable model of the wheelchair system is obtained including the presence of transportation lags. The triangular diagonal dominance (TDD) decoupling technique is applied to reduce this multivariable control problem into two independent scalar control problems. An advanced robust control technique for the wheelchair has been developed based on the combination of a TDD decoupling strategy and neural network controller design. The results obtained from the real-time implementation confirm that robust performance for this multivariable wheelchair control system 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	Nerve Net	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Motor Activity	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Neural Networks (Computer)	en_US
dc.subject.mesh	Computer Simulation	en_US
dc.subject.mesh	Disabled Persons	en_US
dc.subject.mesh	Neural Networks, Computer	en_US
dc.title	Advanced robust tracking control of a powered wheelchair system.	en_US
dc.type	Conference Proceeding
utslib.for	0903 Biomedical Engineering	en_US
dc.location.activity	Lyon, France	en_US
dc.location.activity	Newcastle, Australia
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:

In this paper, the dynamic multivariable model of the wheelchair system is obtained including the presence of transportation lags. The triangular diagonal dominance (TDD) decoupling technique is applied to reduce this multivariable control problem into two independent scalar control problems. An advanced robust control technique for the wheelchair has been developed based on the combination of a TDD decoupling strategy and neural network controller design. The results obtained from the real-time implementation confirm that robust performance for this multivariable wheelchair control system can indeed be achieved.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/2781