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
GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots


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
GET BOOK

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
GET BOOK

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 ...

Intelligent Computing Methodologies

Intelligent Computing Methodologies
  • Author : De-Shuang Huang,Prashan Premaratne
  • Publisher : Springer Nature
  • Release Date : 2020
  • Total pages : 638
  • ISBN : 9780128133804
GET BOOK

Summary : This two-volume set of LNCS 12463 and LNCS 12464 constitutes - in conjunction with the volume LNAI 12465 - the refereed proceedings of the 16th International Conference on Intelligent Computing, ICIC 2020, held in Bari, Italy, in October 2020. The 162 full papers of the three proceedings volumes were carefully reviewed and selected from 457 submissions. The ...

Advances in Robots Trajectories Learning via Fast Neural Networks

Advances in Robots Trajectories Learning via Fast Neural Networks
  • Author : Jose De Jesus Rubio,Yongping Pan,Jeff Pieper,Mu-Yen Chen,Juan Humberto Sossa Azuela
  • Publisher : Frontiers Media SA
  • Release Date : 2021-05-14
  • Total pages : 212
  • ISBN : 9780128133804
GET BOOK

Summary : Download or read online Advances in Robots Trajectories Learning via Fast Neural Networks written by Jose De Jesus Rubio,Yongping Pan,Jeff Pieper,Mu-Yen Chen,Juan Humberto Sossa Azuela, published by Frontiers Media SA which was released on 2021-05-14. Get Advances in Robots Trajectories Learning via Fast Neural Networks ...

Informatics in Control Automation and Robotics

Informatics in Control  Automation and Robotics
  • Author : Joaquim Filipe,Oleg Gusikhin,Kurosh Madani,Jurek Sasiadek
  • Publisher : Springer
  • Release Date : 2015-11-26
  • Total pages : 318
  • ISBN : 9780128133804
GET BOOK

Summary : The present book includes a set of selected extended papers from the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), held in Vienna, Austria, from 1 to 3 September 2014. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four ...

Bioinspired Design and Control of Robots with Intrinsic Compliance

Bioinspired Design and Control of Robots with Intrinsic Compliance
  • Author : Yongping Pan,Zhao Guo,Dongbing Gu
  • Publisher : Frontiers Media SA
  • Release Date : 2020-12-04
  • Total pages : 212
  • ISBN : 9780128133804
GET BOOK

Summary : Download or read online Bioinspired Design and Control of Robots with Intrinsic Compliance written by Yongping Pan,Zhao Guo,Dongbing Gu, published by Frontiers Media SA which was released on 2020-12-04. Get Bioinspired Design and Control of Robots with Intrinsic Compliance Books now! Available in PDF, ePub and Kindle....

Intelligent Robotics and Applications

Intelligent Robotics and Applications
  • Author : Honghai Liu,Han Ding,Zhenhua Xiong,Xiangyang Zhu
  • Publisher : Springer
  • Release Date : 2010-11-10
  • Total pages : 771
  • ISBN : 9780128133804
GET BOOK

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 ...

Proceedings of the 4th International Conference on Electrical Engineering and Control Applications

Proceedings of the 4th International Conference on Electrical Engineering and Control Applications
  • Author : Sofiane Bououden,Mohammed Chadli,Salim Ziani,Ivan Zelinka
  • Publisher : Springer Nature
  • Release Date : 2020-09-29
  • Total pages : 1288
  • ISBN : 9780128133804
GET BOOK

Summary : This book gathers papers presented during the 4th International Conference on Electrical Engineering and Control Applications. It covers new control system models, troubleshooting tips and complex system requirements, such as increased speed, precision and remote capabilities. Additionally, the papers discuss not only the engineering aspects of signal processing and various ...

Proceedings of 2021 Chinese Intelligent Systems Conference

Proceedings of 2021 Chinese Intelligent Systems Conference
  • Author : Yingmin Jia,Weicun Zhang,Yongling Fu,Zhiyuan Yu,Song Zheng
  • Publisher : Springer Nature
  • Release Date : 2021-10-07
  • Total pages : 896
  • ISBN : 9780128133804
GET BOOK

Summary : This book presents the proceedings of the 17th Chinese Intelligent Systems Conference, held in Fuzhou, China, on Oct 16-17, 2021. It focuses on new theoretical results and techniques in the field of intelligent systems and control. This is achieved by providing in-depth study on a number of major topics such as ...