Posture control by on-line learning using CMAC for electric wheelchairs

We developed a posture control system for an electric wheelchair equipped with active suspension, using CMAC, which is a neural network type of control. Testing of the posture control of the wheelchair, which considers a learning results as an output to the target value inputted on-line using the learning function of CMAC (cerebellar model arithmetic controller), was performed. In this paper, testing of the learning control, which holds the posture horizontally both by the simulation and in the experiment by the system, is performed, and the validity of CMAC is verified compared with conventional method.