Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems

作者：Tuan Nghia Nguyen^*; Su Steven; Nguyen Hung T

来源：IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22(2): 371-378.

DOI：10.1109/TNSRE.2013.2276456

• Diagonalization technique
• multivariable control system
• neural network control
• powered wheelchair

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%26apos;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.

• 出版日期2014-3