Research on Fractional Order Fuzzy PID Control of the Pneumatic-hydraulic Upper Limb Rehabilitation Training System Based on PSO

Wang, Hongyan; Lu, Jinbo

doi:10.1007/s12555-020-0847-1

Cited by 13 publications

(4 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fortunately, the electromyography (EMG) approach (Zhang et al, 2020 ) can be used to recognize or detect its evaluation of muscle activity. Human-robot linkage or coupling and biomechanics have mainly been carried out with rigid exoskeletons, which significantly increase the challenging inertia to the lower extremities and can result in various constraints to the user's normal kinematics (Wang and Lu, 2022 ). Thus, it is an important factor to consider to achieve a good coupling control system.…”

Section: Challenges Of Human-robot Cooperative Controlmentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

View full text Add to dashboard Cite

Effective control of an exoskeleton robot (ER) using a human-robot interface is crucial for assessing the robot's movements and the force they produce to generate efficient control signals. Interestingly, certain surveys were done to show off cutting-edge exoskeleton robots. The review papers that were previously published have not thoroughly examined the control strategy, which is a crucial component of automating exoskeleton systems. As a result, this review focuses on examining the most recent developments and problems associated with exoskeleton control systems, particularly during the last few years (2017–2022). In addition, the trends and challenges of cooperative control, particularly multi-information fusion, are discussed.

show abstract

Section: Challenges Of Human-robot Cooperative Controlmentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

View full text Add to dashboard Cite

show abstract

“…The deviation in mathematical model estimation and the sensitivity to external disturbances are obstacles that need to be overcome if the PAM control is to achieve optimal performance. Many algorithms have been proposed to solve the control problem for this actuator, such as the traditional PID controller and its enhanced variations [14][15][16][17][18][19]. Nevertheless, the above controllers show limitations for the hysteresis and nonlinear characteristics of PAM.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Sliding Mode Controller for a PAM-based Actuator

Dao

Dinh²,

Vu³

et al. 2023

Eng. Technol. Appl. Sci. Res.

View full text Add to dashboard Cite

The Pneumatic Artificial Muscle (PAM) is a promising actuator for developing the human-robot interaction system. However, modeling and controlling PAM-based actuators are a significant difficulty due to the inherent uncertainty and hysteresis of PAM. Besides, the control approach of a PAM-based system also deals with unknown disturbances that always exist in any system. This study developed a sliding mode controller that employs an adaptive law to deal with issues and improve control performance. Furthermore, the stability of the proposed controller is proven based on the Lyapunov stability criterion. Finally, through a series of tests, the effectiveness of the proposed control approach is verified.

show abstract

“…The simulation results demonstrated that the implementation of this strategy yields enhanced robustness and improved accuracy in trajectory tracking. Wang et al [16] employed a multi-objective particle swarm optimization algorithm to optimize the process of parameter determination. In contrast to conventional PID control, this approach effectively decreased overshoot and reduced response time, thereby attaining enhanced control precision.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear position control of electro-hydraulic servo system based on lyapunov robust integral backstepping controller

Enyan,

Bing,

Junsen

et al. 2023

Eng. Res. Express

View full text Add to dashboard Cite

In electro-hydraulic servo systems (EHSS), high nonlinearity and time-varying features limit the hydraulic actuator performance. In feedback-based systems, linearization reduces nonlinearities. Their cancellation may produce instability when modeling uncertainty exists. This work uses a robust nonlinear controller based on Lyapunov theory to control the nonlinear position of the electro-hydraulic servo system (EHSS). The dynamics of the system were modeled as extensively as possible, then a simplified mathematical model based on the EHSS dynamics was created for the controller design. Integral backstepping was used to design the nonlinear robust controller utilizing the Lyapunov theory of nonlinear systems. Lyapunov functions theoretically ensured closed-loop stability. Comparative simulation analysis and experimental investigation in real-time with the proportional integral derivative (PID) controller optimized offline for position tracking control were carried out. Besides tracking performance and steady-state error, the mean square error (MSE), the root mean square error (RMSE), the maximum absolute value of tracking errors 〖(M〗_e), and the standard deviation of tracking errors (σ) was utilized to evaluate the controllers' performance. The simulation analysis and experimental verification were accomplished under various sinusoidal trajectories using different testing conditions (amplitudes, frequencies, and external disturbance), in all testing conditions the effectiveness of the robust nonlinear integral backstepping controller was demonstrated.

show abstract

Research on Fractional Order Fuzzy PID Control of the Pneumatic-hydraulic Upper Limb Rehabilitation Training System Based on PSO

Cited by 13 publications

References 32 publications

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

An Adaptive Sliding Mode Controller for a PAM-based Actuator

Nonlinear position control of electro-hydraulic servo system based on lyapunov robust integral backstepping controller

Contact Info

Product

Resources

About