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Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
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Robust multivariable strategy and its application to a powered wheelchair.

Nghia Nguyen1, Hung T Nguyen, Steven Su

  • 1Faculty of Engineering, University of Technology, Sydney, Broadway, NSW 2007, Australia. tnnguyen@eng.uts.edu.au

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|December 8, 2009
PubMed
Summary

This study introduces a robust multivariable control strategy using triangularization and advanced methods like Neuro-Sliding Mode Control (NSMC) for improved system performance and robustness against uncertainties.

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Area of Science:

  • Control Engineering
  • Robotics
  • Artificial Intelligence

Background:

  • Multivariable control systems often face challenges with model uncertainties and external disturbances.
  • Existing robust control strategies can be complex to design and implement.

Purpose of the Study:

  • To develop a systematic and robust multivariable control strategy.
  • To reduce complex multivariable problems into simpler scalar control problems.
  • To enhance system performance and robustness in uncertain environments.

Main Methods:

  • A two-stage design process combining systematic triangularization with advanced control techniques.
  • Stage 1: Triangularization to decompose multivariable problems into scalar ones.
  • Stage 2: Implementation of Model Predictive Control and Neuro-Sliding Mode Control (NSMC) for scalar systems.

Main Results:

  • The triangularization technique effectively simplifies multivariable control challenges.
  • Neuro-Sliding Mode Control (NSMC) demonstrated chattering-free operation and significant robustness.
  • Successful real-time implementation on a powered wheelchair validated the strategy's effectiveness.

Conclusions:

  • The proposed systematic robust multivariable control strategy enhances system performance under uncertainties.
  • The combination of triangularization and NSMC offers a powerful approach for complex control applications.
  • This method is effective for real-world systems like powered wheelchairs facing disturbances.