Dynamic Simulation of Human Gait Using a Combination of Model Predictive and PID Control

2014 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Control System ◽  
Predictive Control ◽  
Pid Control ◽  
Muscle Activity ◽  
A Priori ◽  
Human Gait ◽  
Proportional Integral Derivative ◽  
Biomechanical Models ◽  
Long Period ◽  
The Central Nervous System

Human gait studies have not been applied frequently to the prediction of the performance of medical devices such as prostheses and orthoses. The reason is most biomechanics simulations require experimental data such as muscle activity or joint moment information a priori. In addition, biomechanical models are normally too complicated to be adjusted and these simulations normally take a long period of time to be performed which makes testing of various possibilities time consuming; therefore they are not suitable for prediction purpose. The objective of this research is to develop a control oriented human gait model that is able to predict the performance of prostheses and orthoses before they are experimentally tested. This model is composed of two parts. The first part is a seven link nine degree-of-freedom (DOF) plant to represent the forward dynamics of human gait. The second part is a control system which is a combination of Model Predictive Control (MPC) and Proportional-Integral-Derivative (PID) control. The purpose of this control system is to simulate the central nervous system (CNS). This model is sufficiently simple that it can be simulated and adjusted in a reasonable time, while still representing the essential principles of human gait.

Performance-Adaptive Generalized Predictive Control-Based Proportional-Integral-Derivative Control System and Its Application

2014 ◽  
Vol 136 (6) ◽  
Author(s):  
Takao Sato ◽  
Toru Yamamoto ◽  
Nozomu Araki ◽  
Yasuo Konishi
Keyword(s):  
Control System ◽  
Predictive Control ◽  
Pid Control ◽  
Design Method ◽  
Design Parameters ◽  
Generalized Predictive Control ◽  
Control Performance ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Proportional Integral Derivative Control

In the present paper, we discuss a new design method for a proportional-integral-derivative (PID) control system using a model predictive approach. The PID compensator is designed based on generalized predictive control (GPC). The PID parameters are adaptively updated such that the control performance is improved because the design parameters of GPC are selected automatically in order to attain a user-specified control performance. In the proposed scheme, the estimated plant parameters are updated only when the prediction error increases. Therefore, the control system is not updated frequently. The control system is updated only when the control performance is sufficiently improved. The effectiveness of the proposed method is demonstrated numerically. Finally, the proposed method is applied to a weigh feeder, and experimental results are presented.

Development of Control System by Nonlinear Compensation Using Digital Acceleration Control

2010 ◽  
Author(s):  
Takanori Emaru ◽  
Kazuo Imagawa ◽  
Yohei Hoshino ◽  
Yukinori Kobayashi
Keyword(s):  
Control System ◽  
System Identification ◽  
Mechanical System ◽  
Pid Control ◽  
Estimation Method ◽  
Proportional Integral Derivative ◽  
Inertia Term ◽  
Modeling Errors ◽  
Nonlinear Compensation ◽  
Simulation Results

Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator.

Comparison between H2 and H∞ Optimal Control Solutions for a Combined Energy and Attitude Control System

2012 ◽  
Vol 225 ◽  
pp. 464-469 ◽  
Author(s):  
Ban Ying Siang ◽  
Renuganth Varatharajoo
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Pid Control ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Proportional Integral Derivative ◽  
Attitude Control System ◽  
Control Option ◽  
Optimal Control Methods

The paper focuses on applying optimal control solutions to combined energy storage and attitude control system (CEACS) under different reference missions. In previous researches, the proportional-integral-derivative (PID) control method, the PID-active force control method and H2 control were tested for CEACS and achieved its mission requirement. However, problems such as the in-orbit system uncertainties affect the PID control performances. Thus, two optimal control methods, H2 and H∞ controls are proposed and tested on CEACS under different mission scenarios to improve its pitch attitude accuracy. Results show that both H2 and H∞ are able to achieve the reference mission requirement even under the influence of uncertainties (non-ideal). Moreover comparison between H2 and H∞ shows the H2 is a better control option for CEACS in terms of disturbance rejection.

Improvement of a Forward Dynamic Predictive Human Gait Model

2019 ◽  
Author(s):  
Jessica B. Thayer ◽  
Philip A. Voglewede
Keyword(s):  
Predictive Control ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Performance Criteria ◽  
Human Gait ◽  
Optimization Criteria ◽  
Optimization Framework ◽  
Normal Gait ◽  
The Central Nervous System ◽  
Improved Performance

Abstract Lack of understanding of human gait is detrimental to the development of gait related treatments and devices. This study improves a dynamic, predictive model of human gait which uses model predictive control (MPC) to replicate the control of the central nervous system (CNS). In this work, improved performance criteria, including metabolic cost and dynamic effort, are developed using an existing optimization framework to better mimic control of the CNS. Consistent with existing literature, incorporating dynamic effort and COM energy into the objective function improved gait simulations. This study also demonstrates COM energy and dynamic effort can both be used to predict metabolic energy consumption, which is likely the primary optimization criteria in normal gait generation.

Intelligent Modeling and Optimization of Carbon Anode Baking Temperature

2013 ◽  
Vol 284-287 ◽  
pp. 1018-1027
Author(s):  
Xiao Bin Li ◽  
Ting Hu ◽  
Hai Yan Sun ◽  
Nai Jie Xia ◽  
Jian Hua Wang
Keyword(s):  
Control System ◽  
Control Systems ◽  
Predictive Control ◽  
Intelligent Control ◽  
Pid Control ◽  
Real Data ◽  
Carbon Anode ◽  
Intelligent Modeling ◽  
Control Precision ◽  
Heat Transfer Theory

Coal anode baking temperature system is a MIMO control system which is nonlinear and has cross-coupling and time-delay. The thermal model and flue model before are usually created based on hydrodynamics and heat transfer theory which take long to do the calculation or have ill conditions sometimes. The PID control systems based on the two mechanism models do not yield satisfactory results. In order to control the baking temperature accurately, an intelligent control model based on GA-NN with the aim of improving control precision of baking temperature of carbon anode is established by gathering the real data from anode baking furnace used for initial predictive models. A new GA-NN predictive control system is thus realized for the control of anode baking temperature of which the simulation and real control results showed that the system is efficient and effective with better control precision and robust properties than tradition PID control systems.

DESIGN OF SURGE AND ROLL MOTION CONTROL SYSTEM OF ITSUNUSA AUV USING PID CONTROLLER

JOURNAL ASRO ◽  
2018 ◽  
Vol 9 (1) ◽  
pp. 139
Author(s):  
Teguh Herlambang ◽  
Subchan Subchan
Keyword(s):  
Control System ◽  
Motion Control ◽  
Pid Control ◽  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Motion Equation ◽  
Roll Motion ◽  
Proportional Integral Derivative ◽  
Motion Control System ◽  
Nonlinear Motion

ABSTRACT This paper is about designing motion control system with 2-DOF motion equation to be applied to an Autonomous Underwater Vehicle (AUV) system. The 2-DOF motion equation which consists of surge and roll motion in the form of equations of nonlinear motion. The control system design applied to the ITSUNUSA AUV system uses the Proportional Integral Derivative (PID) method. The simulation results of the PID control system with the motion equation with 2-DOF on the ITSUNUSA AUV system show that the system proves to be stable at a predetermined set-point with an error of 0.01% for surge motion and that with an error of 4.2% for roll motion.  Keywords: AUV, motion control, PID

Model Predictive Control of Melt Pool Size for the Laser Powder Bed Fusion Process Under Process Uncertainty

2021 ◽  
Author(s):  
Zhimin Xi
Keyword(s):  
Control System ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Pid Control ◽  
In Situ Monitoring ◽  
Layer By Layer ◽  
Control Effectiveness ◽  
Melt Pool ◽  
Melt Pool Size

Abstract Laser power bed fusion (LPBF) process is one of popular additive manufacturing techniques for building metal parts through the layer-by-layer melting and solidification process. To date, there are plenty of successful product prototypes manufactured by the LPBF process. However, the lack of confidence in its quality and long-term reliability could be one of the major reasons prevent the LPBF process from being widely adopted in industry. The existing LPBF process is an open loop control system with some in-situ monitoring capability. Hence, manufacturing quality and long-term reliability of the part cannot be guaranteed if there is any disturbance during the process. Such limitation can be overcome if a feedback control system can be implemented. This paper studies the control effectiveness of the PID control and the model predictive control (MPC) for the LPBF process based on a physics-based machine learning model. The control objective is to maintain the melt pool width and depth at required level under process uncertainties from the powder and laser. A sampling-based dynamic control window approach is further proposed for MPC as a practical approach to approximate the optimal control actions within limited time constraint. Control effectiveness, pros, and cons of the PID control and the MPC for the LPBF process are investigated and compared through various control scenarios. It is demonstrated that the MPC is more effective than the PID control under the same conditions, but the MPC demands a valid digit twin of the LPBF process.

scholarly journals Development of Real-Time Maneuver Library Generation Technique for Implementing Tactical Maneuvers of Fixed-Wing Aircraft

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Do hyeon Lee ◽  
Chang-Joo Kim ◽  
Man Jung Heo ◽  
Joo Wan Hwang ◽  
Hee Gyeong Lyu ◽  
...  
Keyword(s):  
Control System ◽  
Real Time ◽  
Air Force ◽  
Flight Control ◽  
Pid Control ◽  
Control Technique ◽  
Proportional Integral Derivative ◽  
Flight Control System ◽  
Generation Technique ◽  
Flight Simulations

This study develops the real-time maneuver library generation technique for performing aggressive maneuvers of fixed-wing aircraft. Firstly, the general maneuver libraries are defined, and then 7th-order polynomials are used to create the maneuver libraries. The attitude command attitude hold (ACAH) system, the rate command rate hold (RCRH) system, and the speed command speed hold (SCSH) system using the proportional-integral-derivative (PID) control technique are designed to minimize the complexity of the flight control system (FCS) and to reduce the weight and volume of the payload. Moreover, the FCS is used for implementing tactical maneuvers. Finally, flight simulations are implemented for the longitudinal loop and Immelmann-turn maneuvers to check the usefulness of the proposed maneuver library generation technique. This study can affect the development of flight techniques for aircraft tactical maneuvers and the modification of air force operational manuals.

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