Fuzzy PID control strategy based on Piecewise Biomechanical model for sit-to-stand movement

被引：0

作者：

Kun Liu ^{[1
]}

Chao Li ^{[1
]}

Yan Pengfei ^{[1
]}

Ming Ye ^{[1
]}

机构：

[1] Jilin Univ, Sch Mech Sci & Engn, Changchun 130022, Peoples R China

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2016年

关键词：

Sit-to-Stand; FSM; piecewise biomechanical model; Fuzzy PID control strategy; COORDINATION; CHILDREN;

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：

Sit-to-stand (STS) motion is the critical initial task in lower limb rehabilitation training exercise of patients with dysfunction. In this paper, based on the dynamic characteristics of the STS motion, a novel piecewise biomechanical function for the STS task modeling is proposed. A Fuzzy PID control strategy based on finite state machine (FSM) is researched for STS motion tracking and STS stability analyzing. Considered the performance of PID controller entirely depending on the adjustment and optimization of the control parameters, a fuzzy controller is used to real-time adjust the parameters to achieve good control effect. The simulation results show that this method has high precision and fast response, and it has certain feasibility.

引用

页码：1466 / 1471

页数：6

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