Advanced robust tracking control of a powered wheelchair

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dc.contributor.author Nguyen, Hung en_US
dc.contributor.author Su, Steven en_US
dc.contributor.author Nguyen, Nghia en_US
dc.contributor.editor Dittmar, A; Clark, J en_US
dc.date.accessioned 2009-11-09T05:36:39Z
dc.date.available 2009-11-09T05:36:39Z
dc.date.issued 2007 en_US
dc.identifier 2006015410 en_US
dc.identifier.citation Nguyen Tuan, Nguyen Hung, and Su Steven 2007, 'Advanced robust tracking control of a powered wheelchair', IEEE, Lyon, France, pp. 4767-4770. en_US
dc.identifier.issn 1-4244-0788-5 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2781
dc.description.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. en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IEMBS.2007.4353405 en_US
dc.title Advanced robust tracking control of a powered wheelchair en_US
dc.parent Proceedings of the 29th International Conference of the IEEE Engineering in Medicine and Biology Society en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Lyon, France en_US
dc.identifier.startpage 4767 en_US
dc.identifier.endpage 4770 en_US
dc.cauo.name FEIT. A/DRsch Ctre for Health Technologies en_US
dc.conference Verified OK en_US
dc.conference.location Lyon, France en_US
dc.for 090300 en_US
dc.personcode 101809 en_US
dc.personcode 840115 en_US
dc.personcode 997723 en_US
dc.percentage 100 en_US
dc.classification.name Biomedical Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE Engineering in Medicine and Biology Society Annual Conference en_US
dc.date.activity 20070823 en_US
dc.location.activity Lyon, France en_US
dc.description.keywords robust control, multivariable control, power wheelchair en_US
dc.staffid 997723 en_US


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