Adaptive Particle Swarm Optimization of PID Gain Tuning for Lower-Limb Human Exoskeleton in Virtual Environment

Adaptive Particle Swarm Optimization of PID Gain Tuning for Lower-Limb Human Exoskeleton in Virtual Environment

Tuning of a proportional-integral-derivative (PID) controller for a complex multi-joint structure, such as an exoskeleton, using conventional methods is difficult and imprecise. In this paper, an optimal PID tuning method for a 3-dimensional model of a lower-limb human exoskeleton in gait training c...

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Bibliographic Details
Main Authors: Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Faisal Ibrahim, Dzuraidah Abd Wahab, Norazam Aliman
Format: Article
Language:English
Published: MDPI AG 2020-11-01
Series:Mathematics
Subjects:
exoskeleton
proportional-integral-derivative
particle swarm optimization
optimization
optimal control
Online Access:https://www.mdpi.com/2227-7390/8/11/2040

Internet

https://www.mdpi.com/2227-7390/8/11/2040

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