Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems

Nguyen, N; Su, SW; Nguyen, HT

Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems

Nguyen, N Su, SW Nguyen, HT

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Publisher:: IEEE
Publication Type:: Journal Article
Citation:: IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22 (2), pp. 371 - 378
Issue Date:: 2014-01

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Field	Value	Language
dc.contributor.author	Nguyen, N
dc.contributor.author	Su, SW
dc.contributor.author	Nguyen, HT
dc.date.accessioned	2015-02-11T03:59:48Z
dc.date.issued	2014-01
dc.identifier.citation	IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22 (2), pp. 371 - 378
dc.identifier.issn	1534-4320
dc.identifier.uri	http://hdl.handle.net/10453/33314
dc.description.abstract	This paper proposes an advanced diagonal decou- pling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonaliza- tion 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 plants 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.
dc.publisher	IEEE
dc.relation.ispartof	IEEE Transactions on Neural Systems and Rehabilitation Engineering
dc.relation.isbasedon	10.1109/TNSRE.2013.2276456
dc.relation.isreplacedby	10453/37956
dc.relation.isreplacedby	http://hdl.handle.net/10453/37956
dc.rights	© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.subject	Diagonalization technique, multivariable control system, neural network control, powered wheelchair.
dc.title	Neural Network Based Diagonal Decoupling Control of Powered Wheelchair Systems
dc.type	Journal article
utslib.citation.volume	2
utslib.citation.volume	22
pubs.embargo.period	Not known
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
pubs.organisational-group	/University of Technology Sydney/Strength - Health Technologies
utslib.copyright.status	open_access
pubs.declined	1970-01-01T00:00:00.0+1000
pubs.consider-herdc	true
pubs.merge-to	10453/37956
pubs.merge-to	http://hdl.handle.net/10453/37956
pubs.deleted	1970-01-01T00:00:00.0+1000

Abstract:

This paper proposes an advanced diagonal decou- pling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonaliza- tion 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 plants 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.

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http://hdl.handle.net/10453/33314