PID Control with Intelligent Compensation for Exoskeleton Robots /
PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocit...
| Main Authors: | , |
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| Format: | software, multimedia |
| Language: | eng |
| Published: |
London : Academic Press,
2018
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| Subjects: | |
| Online Access: | https://www.sciencedirect.com/book/9780128133804 |
| _version_ | 1826472662623322112 |
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| author | Yu, Wen, author 552451 ScienceDirect (Online service) 7722 |
| author_facet | Yu, Wen, author 552451 ScienceDirect (Online service) 7722 |
| author_sort | Yu, Wen, author 552451 |
| collection | OCEAN |
| description | PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering. |
| first_indexed | 2024-03-05T17:21:46Z |
| format | software, multimedia |
| id | KOHA-OAI-TEST:607065 |
| institution | Universiti Teknologi Malaysia - OCEAN |
| language | eng |
| last_indexed | 2024-03-05T17:21:46Z |
| publishDate | 2018 |
| publisher | London : Academic Press, |
| record_format | dspace |
| spelling | KOHA-OAI-TEST:6070652023-11-07T13:55:21ZPID Control with Intelligent Compensation for Exoskeleton Robots / Yu, Wen, author 552451 ScienceDirect (Online service) 7722 software, multimedia Electronic books 631902 London : Academic Press,2018©2018engPID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering.Includes index.Chapter 1 - Preliminaries -- Chapter 2 - Stable PID Control and Systematic Tuning of PID Gains -- Chapter 3 - PID Control in Task Space -- Chapter 4 - PD Control with Neural Compensation -- Chapter 5 - PID Control with Neural Compensation -- Chapter 6 - PD Control with Fuzzy Compensation -- Chapter 7 - PD Control with Sliding Mode Compensation -- Chapter 8 - PID Admittance Control in Task Space -- Chapter 9 - PID Admittance Control in Joint Space -- Chapter 10 - Robot Trajectory Generation in Joint Space -- Appendix A - Design of Upper Limb Exoskeletons -- Bibliography -- IndexPID Control with Intelligent Compensation for Exoskeleton Robots explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering.PID controllershttps://www.sciencedirect.com/book/9780128133804URN:ISBN:9780128133804Remote access restricted to users with a valid UTM ID via VPN. |
| spellingShingle | PID controllers Yu, Wen, author 552451 ScienceDirect (Online service) 7722 PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title | PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title_full | PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title_fullStr | PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title_full_unstemmed | PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title_short | PID Control with Intelligent Compensation for Exoskeleton Robots / |
| title_sort | pid control with intelligent compensation for exoskeleton robots |
| topic | PID controllers |
| url | https://www.sciencedirect.com/book/9780128133804 |
| work_keys_str_mv | AT yuwenauthor552451 pidcontrolwithintelligentcompensationforexoskeletonrobots AT sciencedirectonlineservice7722 pidcontrolwithintelligentcompensationforexoskeletonrobots |