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 s...
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | Englisch |
| Veröffentlicht: |
London San Diego
Academic Press, an imprint of Elsvier
[2018]
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| Schlagwörter: | |
| Links: | https://learning.oreilly.com/library/view/-/9780128134641/?ar |
| Zusammenfassung: | 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. |
| Beschreibung: | Includes bibliographical references and index. - Online resource; title from PDF title page (EBSCO, viewed January 23, 2018) |
| Umfang: | 1 Online-Ressource illustrations |
| ISBN: | 012813464X 9780128134641 0128133805 9780128133804 |
Internformat
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| 520 | |a 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. | ||
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| isbn | 012813464X 9780128134641 0128133805 9780128133804 |
| language | English |
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| spelling | Yu, Wen VerfasserIn aut PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico London San Diego Academic Press, an imprint of Elsvier [2018] ©2018 1 Online-Ressource illustrations Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index. - Online resource; title from PDF title page (EBSCO, viewed January 23, 2018) 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 controllers Intelligent control systems Robotics Régulateurs PID Commande intelligente Robotique TECHNOLOGY & ENGINEERING ; Engineering (General) 9780128133804 Erscheint auch als Druck-Ausgabe 9780128133804 |
| spellingShingle | Yu, Wen PID control with intelligent compensation for exoskeleton robots PID controllers Intelligent control systems Robotics Régulateurs PID Commande intelligente Robotique TECHNOLOGY & ENGINEERING ; Engineering (General) |
| title | PID control with intelligent compensation for exoskeleton robots |
| title_auth | PID control with intelligent compensation for exoskeleton robots |
| title_exact_search | PID control with intelligent compensation for exoskeleton robots |
| title_full | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_fullStr | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_full_unstemmed | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_short | PID control with intelligent compensation for exoskeleton robots |
| title_sort | pid control with intelligent compensation for exoskeleton robots |
| topic | PID controllers Intelligent control systems Robotics Régulateurs PID Commande intelligente Robotique TECHNOLOGY & ENGINEERING ; Engineering (General) |
| topic_facet | PID controllers Intelligent control systems Robotics Régulateurs PID Commande intelligente Robotique TECHNOLOGY & ENGINEERING ; Engineering (General) |
| work_keys_str_mv | AT yuwen pidcontrolwithintelligentcompensationforexoskeletonrobots |