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).
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页数：6
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