Related Experiment Video
Updated: Jun 9, 2026
08:55
Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
Published on: February 5, 2020
Robust neuro-sliding mode multivariable control strategy for powered wheelchairs.
Tuan Nghia Nguyen1, Steven W Su, Hung T Nguyen
1Faculty of Engineering, University of Technology, Sydney, NSW 2007, Australia. tnnguyen@eng.uts.edu.au
Summary
This study introduces a robust control strategy for powered wheelchairs, enhancing stability and performance. The advanced neuro-sliding mode approach ensures reliable operation despite uncertainties and disturbances.
Area of Science:
- Robotics
- Control Systems Engineering
- Biomedical Engineering
Background:
- Powered wheelchairs require advanced control for safe and effective operation.
- Existing control systems face challenges with parameter uncertainties and external disturbances.
- Robustness and optimal performance are critical for multivariable systems like powered wheelchairs.
Purpose of the Study:
- To propose an advanced robust multivariable control strategy for powered wheelchair systems.
- To enhance the real-time adaptability and performance of powered wheelchairs.
- To address limitations of existing control methods, such as coupling effects and chattering.
Main Methods:
- Combines systematic triangularization technique with robust neuro-sliding mode control.
- Employs real-time adaptation to handle parameter uncertainties and external disturbances.
- Focuses on reducing coupling effects and eliminating chattering phenomena.
Main Results:
- The novel strategy effectively manages parameter uncertainties and external disturbances.
- Achieved reduced coupling effects and eliminated chattering in the multivariable system.
- Demonstrated fast and global convergence with reduced computational load.
- Real-time implementation on a powered wheelchair system confirmed effectiveness.
Conclusions:
- The proposed robust multivariable control strategy guarantees system robustness and desired performance.
- The strategy is effective even under conditions of parameter uncertainty and external disturbances.
- This approach offers a significant advancement for powered wheelchair control systems.
More Related Videos
Related Concept Videos
01:26PD Controller: Design
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
01:17Rolling Resistance: Problem Solving
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
01:18Hierarchy of Motor Control
The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.