PID Control with Intelligent Compensation for Exoskeleton Robots
eBook - ePub

PID Control with Intelligent Compensation for Exoskeleton Robots

  1. 234 pages
  2. English
  3. ePUB (mobile friendly)
  4. Available on iOS & Android
eBook - ePub

PID Control with Intelligent Compensation for Exoskeleton Robots

About this book

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. - Discusses novel PD and PID controllers for biomedical and industrial robotic applications, demonstrating how PD and PID with intelligent compensation is more effective than other model-based compensations - Presents a stability analysis of the book for industrial linear PID - Includes practical applications of robotic PD/PID control, such as serial sliding mode, explicit conditions for linear PID and high gain observers for neural PD control - Includes applied exoskeleton applications and MATLAB code for simulations and applications

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Table of contents

  1. Cover image
  2. Title page
  3. Table of Contents
  4. Copyright
  5. Dedication
  6. About the Author
  7. Preface
  8. Introduction
  9. Chapter 1: Preliminaries
  10. Chapter 2: Stable PID Control and Systematic Tuning of PID Gains
  11. Chapter 3: PID Control in Task Space
  12. Chapter 4: PD Control with Neural Compensation
  13. Chapter 5: PID Control with Neural Compensation
  14. Chapter 6: PD Control with Fuzzy Compensation
  15. Chapter 7: PD Control with Sliding Mode Compensation
  16. Chapter 8: PID Admittance Control in Task Space
  17. Chapter 9: PID Admittance Control in Joint Space
  18. Chapter 10: Robot Trajectory Generation in Joint Space
  19. Appendix A: Design of Upper Limb Exoskeletons
  20. Bibliography
  21. Index

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Yes, you can access PID Control with Intelligent Compensation for Exoskeleton Robots by Wen Yu in PDF and/or ePUB format, as well as other popular books in Technology & Engineering & Biotechnology. We have over one million books available in our catalogue for you to explore.