Abstract:
In this paper, the dynamic multivariable model of
the wheelchair system is obtained including the presence of
transportation lags. The triangular diagonal dominance (TDD)
decoupling technique is applied to reduce this multivariable
control problem into two independent scalar control problems.
An advanced robust control technique for the wheelchair has
been developed based on the combination of a TDD decoupling
strategy and neural network controller design. The results
obtained from the real-time implementation confirm that
robust performance for this multivariable wheelchair control
system can indeed be achieved.
