PID Control with Intelligent Compensation for Exoskeleton Robots

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

Produk Detail:

  • Author : Wen Yu
  • Publisher : Academic Press
  • Pages : 220 pages
  • ISBN : 9780128133804
  • Rating : 4/5 from 21 reviews
CLICK HERE TO GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publisher : Academic Press
  • Release : 01 October 2017
GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots

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

PID Control with Intelligent Compensation for Exoskeleton Robots

PID Control with Intelligent Compensation for Exoskeleton Robots
  • Author : Wen Yu
  • Publisher : Academic Press
  • Release : 10 January 2018
GET THIS BOOKPID Control with Intelligent Compensation for Exoskeleton Robots

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 in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control.

Intelligent Control Design and MATLAB Simulation

Intelligent Control Design and MATLAB Simulation
  • Author : Jinkun Liu
  • Publisher : Springer
  • Release : 20 September 2017
GET THIS BOOKIntelligent Control Design and MATLAB Simulation

This book offers a comprehensive introduction to intelligent control system design, using MATLAB simulation to verify typical intelligent controller designs. It also uses real-world case studies that present the results of intelligent controller implementations to illustrate the successful application of the theory. Addressing the need for systematic design approaches to intelligent control system design using neural network and fuzzy-based techniques, the book introduces the concrete design method and MATLAB simulation of intelligent control strategies; offers a catalog of implementable intelligent

Exoskeletons in Rehabilitation Robotics

Exoskeletons in Rehabilitation Robotics
  • Author : Eduardo Rocon,José L. Pons
  • Publisher : Springer
  • Release : 02 February 2011
GET THIS BOOKExoskeletons in Rehabilitation Robotics

The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes

Neurorehabilitation Technology

Neurorehabilitation Technology
  • Author : David J. Reinkensmeyer,Volker Dietz
  • Publisher : Springer
  • Release : 03 August 2016
GET THIS BOOKNeurorehabilitation Technology

This revised, updated second edition provides an accessible, practical overview of major areas of technical development and clinical application in the field of neurorehabilitation movement therapy. The initial section provides a rationale for technology application in movement therapy by summarizing recent findings in neuroplasticity and motor learning. The following section then explains the state of the art in human-machine interaction requirements for clinical rehabilitation practice. Subsequent sections describe the ongoing revolution in robotic therapy for upper extremity movement and for

Observers in Control Systems

Observers in Control Systems
  • Author : George Ellis
  • Publisher : Elsevier
  • Release : 16 October 2002
GET THIS BOOKObservers in Control Systems

Observers are digital algorithms that combine sensor outputs with knowledge of the system to provide results superior to traditional structures, which rely wholly on sensors. Observers have been used in selected industries for years, but most books explain them with complex mathematics. Observers in Control Systems uses intuitive discussion, software experiments, and supporting analysis to explain the advantages and disadvantages of observers. If you are working in controls and want to improve your control systems, observers could be the technology

Disturbance Observer-Based Control

Disturbance Observer-Based Control
  • Author : Shihua Li,Jun Yang,Wen-Hua Chen,Xisong Chen
  • Publisher : CRC Press
  • Release : 19 April 2016
GET THIS BOOKDisturbance Observer-Based Control

Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applica

New Trends in Medical and Service Robots

New Trends in Medical and Service Robots
  • Author : Doina Pisla,Hannes Bleuler,Aleksandar Rodic,Calin Vaida,Adrian Pisla
  • Publisher : Springer Science & Business Media
  • Release : 06 September 2013
GET THIS BOOKNew Trends in Medical and Service Robots

This book contains mainly the selected papers of the First International Workshop on Medical and Service Robots, held in Cluj-Napoca, Romania, in 2012. The high quality of the scientific contributions is the result of a rigorous selection and improvement based on the participants’ exchange of opinions and extensive peer-review. This process has led to the publishing of the present collection of 16 independent valuable contributions and points of view and not as standard symposium or conference proceedings. The addressed issues are: Computational

Radial Basis Function (RBF) Neural Network Control for Mechanical Systems

Radial Basis Function (RBF) Neural Network Control for Mechanical Systems
  • Author : Jinkun Liu
  • Publisher : Springer Science & Business Media
  • Release : 26 January 2013
GET THIS BOOKRadial Basis Function (RBF) Neural Network Control for Mechanical Systems

Radial Basis Function (RBF) Neural Network Control for Mechanical Systems is motivated by the need for systematic design approaches to stable adaptive control system design using neural network approximation-based techniques. The main objectives of the book are to introduce the concrete design methods and MATLAB simulation of stable adaptive RBF neural control strategies. In this book, a broad range of implementable neural network control design methods for mechanical systems are presented, such as robot manipulators, inverted pendulums, single link flexible

New Developments and Advances in Robot Control

New Developments and Advances in Robot Control
  • Author : Nabil Derbel,Jawhar Ghommam,Quanmin Zhu
  • Publisher : Springer
  • Release : 24 January 2019
GET THIS BOOKNew Developments and Advances in Robot Control

This book highlights relevant studies and applications in the area of robotics, which reflect the latest research, from interdisciplinary theoretical studies and computational algorithm development, to representative applications. It presents chapters on advanced control, such as fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis and fault tolerant control etc. and addresses topics including cloud robotics, cable-driven robots, two-wheeled robots, mobile robots, swarm robots, hybrid vehicle, and drones. Each chapter employs a uniform structure: background, motivation, quantitative development (equations), case studies/

Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing
  • Author : Dan Zhang,Bin Wei
  • Publisher : Springer
  • Release : 22 August 2016
GET THIS BOOKMechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Featuring selected contributions from the 2nd International Conference on Mechatronics and Robotics Engineering, held in Nice, France, February 18–19, 2016, this book introduces recent advances and state-of-the-art technologies in the field of advanced intelligent manufacturing. This systematic and carefully detailed collection provides a valuable reference source for mechanical engineering researchers who want to learn about the latest developments in advanced manufacturing and automation, readers from industry seeking potential solutions for their own applications, and those involved in the robotics and mechatronics industry.

Advanced Technologies in Robotics and Intelligent Systems

Advanced Technologies in Robotics and Intelligent Systems
  • Author : Sergey Yu. Misyurin,Vigen Arakelian,Arutyun I. Avetisyan
  • Publisher : Springer Nature
  • Release : 01 January 2020
GET THIS BOOKAdvanced Technologies in Robotics and Intelligent Systems

This volume gathers the latest advances, innovations, and applications in the field of intelligent systems such as robots, cyber-physical and embedded systems, as presented by leading international researchers and engineers at the International Conference on Intelligent Technologies in Robotics (ITR), held in Moscow, Russia on October 21-23, 2019. It covers highly diverse topics, including robotics, design and machining, control and dynamics, bio-inspired systems, Internet of Thing, Big Data, RFID technology, blockchain, trusted software, cyber-physical systems (CFS) security, development of CFS in

Neural Systems for Robotics

Neural Systems for Robotics
  • Author : Omid Omidvar,Patrick van der Smagt
  • Publisher : Elsevier
  • Release : 02 December 2012
GET THIS BOOKNeural Systems for Robotics

Neural Systems for Robotics represents the most up-to-date developments in the rapidly growing aplication area of neural networks, which is one of the hottest application areas for neural networks technology. The book not only contains a comprehensive study of neurocontrollers in complex Robotics systems, written by highly respected researchers in the field but outlines a novel approach to solving Robotics problems. The importance of neural networks in all aspects of Robot arm manipulators, neurocontrol, and Robotic systems is also given

Wearable Robots

Wearable Robots
  • Author : José L. Pons
  • Publisher : John Wiley & Sons
  • Release : 15 April 2008
GET THIS BOOKWearable Robots

A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired