PID Control with Intelligent Compensation for Exoskeleton Robots

Written By Wen Yu
PID Control with Intelligent Compensation for Exoskeleton Robots
  • Publsiher : Academic Press
  • Release : 01 October 2017
  • ISBN : 9780128133804
  • Pages : 220 pages
  • Rating : 4/5 from 21 reviews
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Read or download book entitled PID Control with Intelligent Compensation for Exoskeleton Robots written by Wen Yu which was release on 01 October 2017, this book published by Academic Press. Available in PDF, EPUB and Kindle Format. Book excerpt: Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance, and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering. PID Control with Intelligent Compensation for Exoskeleton Robots shows readers how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. PD/PID using intelligent compensation has proven much more effective than other model-based compensations. PID Control with Intelligent Compensation for Exoskeleton Robots shows readers how to use neural PD and neural PID controls to reduce integration gain, providing explicit conditions on how to select linear PID gains by using proof of semi global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. Discusses novel PD and PID controllers for biomedical and industrial robotic applications, demonstrating how PD and PID with intelligent compensation is more effective than other model-based compensations Presents a stability analysis of this book for industrial linear PID Includes practical applications of robotic PD/PID control such as serial sliding mode, explicit conditions for linear PID, and high gain observers for neural PD control Includes applied exoskeleton applications and Matlab code for simulations and applications

PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publisher : Academic Press
  • Release Date : 2017-10-01
  • Total pages : 220
  • ISBN : 9780128133804
GET BOOK

Summary : Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance, and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity ...

PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publisher : Academic Press
  • Release Date : 2018-01-10
  • Total pages : 234
  • ISBN : 9780128133804
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Summary : PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied ...

Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton

Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton
  • Author : Yuehong Yin
  • Publisher : CRC Press
  • Release Date : 2019-09-05
  • Total pages : 360
  • ISBN : 9780128133804
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Summary : This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on ...

An Overview on Balancing and Stabilization Control of Biped Robots

An Overview on Balancing and Stabilization Control of Biped Robots
  • Author : Hayder Al-Shuka
  • Publisher : GRIN Verlag
  • Release Date : 2017-10-17
  • Total pages : 21
  • ISBN : 9780128133804
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Summary : Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots ...

Intelligent Robotics and Applications

Intelligent Robotics and Applications
  • Author : Honghai Liu,Han Ding,Zhenhua Xiong,Xiangyang Zhu
  • Publisher : Springer Science & Business Media
  • Release Date : 2010-10-21
  • Total pages : 771
  • ISBN : 9780128133804
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Summary : The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in ...