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Updated: Jun 26, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
Published on: July 22, 2014
Neuro-sliding mode multivariable control of a powered wheelchair
Nghia Nguyen1, Hung T Nguyen, Steven Su
1University of Technology, Sydney, Broadway, NSW, Australia. tnnguyen@eng.uts.edu.au
Abstract:
This paper proposes a neuro-sliding mode multivariable control approach for the control of a powered wheelchair system. In the first stage, a systematic decoupling technique is applied to the wheelchair system in order to reduce the multivariable control problem into two independent scalar control problems. Then two Neuro-Sliding Mode Controllers (NSMCs) are designed for these independent subsystems to guarantee system robustness under model uncertainties and unknown external disturbances. Both off-line and on-line trainings are involved in the second stage. Real-time experimental results confirm that robust performance for this multivariable wheelchair control system under model uncertainties and unknown external disturbances can indeed be achieved.
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