Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems

被引：12
|
作者：
Tuan Nghia Nguyen [1 ]
Su, Steven [1 ]
Nguyen, Hung T. [1 ]
机构：
[1] Univ Technol Sydney, Fac Engn & Informat Technol, Sydney, NSW 2007, Australia
来源：
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | 2014年 / 22卷 / 02期
关键词：
Diagonalization technique; multivariable control system; neural network control; powered wheelchair; ADAPTIVE-CONTROL; DESIGN; IMPLEMENTATION;
D O I：
10.1109/TNSRE.2013.2276456
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
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.
引用
收藏
页码：371 / 378
页数：8
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