Title :
Attitude control using CMAC for electric wheelchairs equipped with hydraulic cylinder
Author :
Fujisawa, Shoichiro ; Akazawa, Kouhei ; Kurozumi, Ryota ; Kawada, Kazuo ; Yamamoto, Toru ; Uenaka, Hiroto
Author_Institution :
Dept. of Electro-Mech. Syst., Takamatsu Nat. Coll. of Technol., Japan
Abstract :
We developed a posture control system for an electric wheelchair equipped with active suspension, using CMAC which is a neural network type of control. Testing of the posture control of the wheelchair, which considers a learning result as an output to the target value inputted on-line using the learning function of CMAC (cerebellar model arithmetic controller), was performed. In this paper, testing of the learning control which holds the posture horizontally both by the simulation and in the experiment by the system, is performed, and the validity of CMAC is verified.
Keywords :
attitude control; cerebellar model arithmetic computers; control system synthesis; electrohydraulic control equipment; handicapped aids; learning systems; nonlinear control systems; servomechanisms; active suspension; adaptive learning control; attitude control; cerebellar model arithmetic controller; controller design; electric wheelchairs; electro-hydraulic servo system; hydraulic cylinder; machine control; neural network; nonlinear system; on-line learning; posture control system; welfare equipment; Arithmetic; Brain modeling; Control systems; Educational institutions; Educational technology; Electrohydraulics; Petroleum; Proportional control; Wheelchairs; Wheels;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222186
