Control of twin-double pendulum lower extremity exoskeleton system with fuzzy logic control method

Tanyıldızı, Alper Kadir; Yakut, Oğuz; Taşar, Beyda; Tatar, Ahmet Burak

doi:10.1007/s00521-020-05554-7

Cited by 6 publications

(4 citation statements)

References 67 publications

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“…In this context, many research activities have focused on the design, implementation and evaluation of FOPID-FLC control-based exoskeleton. In [66]- [69] authors proposed fuzzy fractional PID controllers for different lower limb exoskeleton models. These controllers permit to adjust the assistive force based on the user's muscle activity.…”

Section: Introductionmentioning

confidence: 99%

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

Zaway,

Jallouli-Khlif,

Maalej

et al. 2023

Journal of Robotics and Control

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In this context, Fuzzy Fractional Order Proportional Integral Derivative (FOPID-FLC) controllers are emerged as efficient approaches due to their flexibility and ability to handle nonlinearities and uncertainties. This paper proposes the use of a FOPID-FLC controller for a two-degree-of-freedom (2-DOF) lower limb exoskeleton. Our proposal is based on an enhanced control approach that combines fuzzy logic advantages and fractional calculus benefits. Contrary to popular existing methods, that use the FLC to tune the FOPID parameters, the FLC in this work is used to generate the system torque depending on patient morphology. Indeed, our fundamental contribution is to design and implement an enhanced FOPID-FLC that achieves an adequate optimal control based on system rules composed of optimal torques and input data. The fractional calculus is approximated using successive first order filters. Next, a multi-objective optimization is established for the tuning of each FOPID parameters. Finally, the FLC is used to adjust the torque depending on the kid's age. The effectiveness of the proposed controller in various scenarios is validated based on numerical simulations. Extensive analyses prove that the FOPID-FLC outperforms the FOPID with a 90\% of improvement in terms of error performance indices and 20\% of improvement for the control action. Moreover, the controller exhibits improved robustness against uncertainties and disturbances encountered in rehabilitation environments.

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Section: Introductionmentioning

confidence: 99%

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

Zaway,

Jallouli-Khlif,

Maalej

et al. 2023

Journal of Robotics and Control

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“…Researchers have explored various control techniques and algorithms to achieve precise and efficient speed regulation. The literature review highlights significant findings and approaches, including PID control [8], adaptive control [7], fuzzy logic control [35], neural network control [30], sliding mode control [15], optimal control [5], and hybrid control methods [10]. The main focus of these studies is on optimizing control performance, dealing with non-linearities and uncertainties, and achieving robust and efficient speed control in DC motors.…”

Section: Introductionmentioning

confidence: 99%

Implementation of Fuzzy Logic Controller Algorithms with MF optimization on FPGA

Ahmed,

Kourd Yahia

2023

Stat., optim. inf. comput.

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In this work, we propose the design and implementation of a parallel-structured fuzzy logic controller with integral action and anti-windup. The Grey Wolf Optimization (GWO) optimization technique is used to optimize fuzzy rules, which allows for the complicated algebraic ideas of type 1 fuzzy logic algorithms to be reduced to straightforward numerical equations for FPGA target implementation. The techniques for operating a geared DC motor are optimized by the membership function structure of our controller's data propagation. Our proposed controller was implemented in Xilinx System Generator (XSG) and co-simulated on hardware and software with VIVADO and XSG tools.

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“…For instance, without considering system uncertainties, Li et al (2020) put forward a zero dynamics based potential energy modulation method for an upper limb exoskeleton; Wu et al (2016) proposed an adaptive sliding mode control for an LLE robot to track the desired gaits. To follow the desired position of knee exoskeleton, Mefoued and Belkhiat (2019) and Li et al (2017) proposed a sliding mode observer based robust control and a Zhang dynamics based robust control, respectively; Chen et al (2021) proposed an approach consisting of the back-propagation neural networks, the backstepping controller and the admittance controller to perform the rehabilitation training of intermediate stage; Tanyildizi et al (2021) proposed a fuzzy logic controller for a 2-DOF LLE robot to follow the desired gaits. To follow the desired gaits, Sharma et al (2021) proposed a dragon fly optimization based fuzzy logic PID control scheme for a 2-DOF LLE robot.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control design with a novel leakage-type adaptive mechanism for an uncertain lower limb exoskeleton robot

Yang

Jiufang

Liu

et al. 2022

Journal of Vibration and Control

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In this paper, a novel adaptive robust control approach has been proposed for a class of uncertain mechanical systems. First, aiming for the unknown uncertainties which may be fast time-varying, a novel adaptive mechanism in leakage-type will be developed. Unlike the prevalent adaptive methods, this adaptive mechanism put forward mainly accounts for estimating all the lumped uncertainty terms, and does not require any information of uncertainties other than they are bounded; Second, through transforming the gait following assignment to the constraint control, an adaptive robust constraint-following controller constructed will render the constraints uniformly bounded and uniformly ultimately bounded. To testify the efficacy of proposed approach, a lower limb exoskeleton robot is considered as an illustrative example, the simulations indicate that the proposed control can indeed improve the level of passive rehabilitation training.

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Control of twin-double pendulum lower extremity exoskeleton system with fuzzy logic control method

Cited by 6 publications

References 67 publications

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

Implementation of Fuzzy Logic Controller Algorithms with MF optimization on FPGA

Robust tracking control design with a novel leakage-type adaptive mechanism for an uncertain lower limb exoskeleton robot

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