Stable PID Tracking Control with Application to a 7-DoF Exoskeleton Robot

被引：0
|
作者：
Garcia Avila, Edgar [1 ]
Yu, Wen [1 ]
Saad, Maarouf [2 ]
Ghommam, Jawhar [2 ]
机构：
[1] CINVESTAV IPN, Dept Control Automat, Mexico City, DF, Mexico
[2] Ecole Technol Super, Dept Elect Engn, Montreal, PQ, Canada
来源：
2016 13TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2016年
关键词：
ROBUST ADAPTIVE-CONTROL; UPPER-LIMB; MANIPULATORS; REHABILITATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we extend the popular PID regulation control into PID tracking control by using a filtered error and modifying the reference signal. In order to decrease the gains of PID controller, a neural compensator is enclosed. The global and semiglobal asymptotic stability of this PID tracking control with neural compensation are proposed. The proposed PID tracking control is validated with the upper limb exoskeleton of 'Ecole de Technologie Sup'erieure (ETS).
引用
收藏
页数：6
相关论文
共 50 条
  • [1] Novel robust control of a 7-DOF exoskeleton robot
    Rahmani, Mehran
    Rahman, Mohammad Habibur
    [J]. PLOS ONE, 2018, 13 (09):
  • [2] Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
    Brahmi, Brahim
    Saad, Maarouf
    Lam, Jacqueline Tu Anh Thu
    Luna, Cristobal Ochoa
    Archambault, Philippe S.
    Rahman, Mohammad H.
    [J]. EUROPEAN JOURNAL OF CONTROL, 2018, 42 : 77 - 87
  • [3] Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics
    Brahmi, Brahim
    Saad, Maarouf
    Rahman, Mohammad H.
    Ochoa-Luna, Cristobal
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2019, 49 (03): : 600 - 611
  • [4] Stable walking of a 7-DOF biped robot
    Plestan, F
    Grizzle, JW
    Westervelt, ER
    Abba, G
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (04): : 653 - 668
  • [5] Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot
    Ni, Wencheng
    Li, Hui
    Jiang, Zhihong
    Zhang, Bainan
    Huang, Qiang
    [J]. ASSEMBLY AUTOMATION, 2018, 38 (05) : 595 - 605
  • [6] Adaptive Neural Network Fast Fractional Sliding Mode Control of a 7-DOF Exoskeleton Robot
    Rahmani, Mehran
    Rahman, Mohammad Habibur
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2020, 18 (01) : 124 - 133
  • [7] A 7-DoF Upper Limb Exoskeleton Robot Control Using a New Robust Hybrid Controller
    Mehran Rahmani
    Mohammad Habibur Rahman
    Jawhar Ghommam
    [J]. International Journal of Control, Automation and Systems, 2019, 17 : 986 - 994
  • [8] A 7-DoF Upper Limb Exoskeleton Robot Control Using a New Robust Hybrid Controller
    Rahmani, Mehran
    Rahman, Mohammad Habibur
    Ghommam, Jawhar
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (04) : 986 - 994
  • [9] Adaptive Neural Network Fast Fractional Sliding Mode Control of a 7-DOF Exoskeleton Robot
    Mehran Rahmani
    Mohammad Habibur Rahman
    [J]. International Journal of Control, Automation and Systems, 2020, 18 : 124 - 133
  • [10] Dynamic Analysis of 7-DOF Exoskeleton Upper-Limbed Rehabilitation Robot
    Yang, Qizhi
    Ma, Xinpo
    Fang, Jiajia
    Zhao, Xingang
    Song, Junpeng
    Gu, Jun
    Zhao, Jinhai
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2015, : 365 - 370
12345