Title :
Advanced robust tracking control of a powered wheelchair system
Author :
Nguyen, N.T. ; Nguyen, H.T. ; Su, S.
Author_Institution :
Univ. of Technol., Sydney
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.
Keywords :
geriatrics; handicapped aids; medical control systems; multivariable control systems; neurocontrollers; robust control; tracking; dynamic multivariable model; independent scalar control problems; multivariable control problem reduction; neural network controller design; powered wheelchair system; robust tracking control technique; transportation lags; triangular diagonal dominance decoupling technique; Australia; Control systems; Digital control; MIMO; Neural networks; Nonlinear control systems; Optimal control; Power system modeling; Robust control; Wheelchairs; Computer Simulation; Disabled Persons; Equipment Design; Humans; Motor Activity; Nerve Net; Neural Networks (Computer); Robotics; Wheelchairs;
Conference_Titel :
Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE
Conference_Location :
Lyon
Print_ISBN :
978-1-4244-0787-3
DOI :
10.1109/IEMBS.2007.4353405
