Neural network based diagonal decoupling control of powered wheelchair systems

Publication Type:
Journal Article
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22 (2), pp. 371 - 378
Issue Date:
Full metadata record
Files in This Item:
Filename Description Size
ThumbnailNguyen Su Nguyen 2013 (Final Submission).pdfAccepted Manuscript497.16 kB
Adobe PDF
This paper proposes an advanced diagonal decoupling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonalization technique and the neural network control design. As such, this control method reduces coupling effects on a multivariable system, leading to independent control design procedures. Using an obtained dynamic model, the problem of the plant's Jacobian calculation is eliminated in a neural network control design. The effectiveness of the proposed control method is verified in a real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty effects. © 2013 IEEE.
Please use this identifier to cite or link to this item: