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

Author

Fujisawa, Shoichiro ; Akazawa, Kouhei ; Kurozumi, Ryota ; Kawada, Kazuo ; Yamamoto, Tom ; Uenaka, Hiroto

Author_Institution

Takamatsu Nat. Coll. of Technol., Kagawa, Japan

Volume

2

fYear

2003

fDate

9-11 June 2003

Firstpage

696

Abstract

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.

Keywords

adaptive control; cerebellar model arithmetic computers; handicapped aids; learning systems; position control; adaptive learning control; cerebellar model arithmetic controller; electric wheelchair; electrohydraulic servo system; neural network; online learning; posture control system; Adaptive control; Arithmetic; Brain modeling; Control systems; Electrohydraulics; Performance evaluation; Petroleum; Proportional control; Wheelchairs; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2003. ISIE '03. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7912-8

Type

conf

DOI

10.1109/ISIE.2003.1267904

Filename

1267904