DESIGN, DYNAMIC MODELING AND CONTROL OF WEARABLE FINGER ORTHOSIS

2021 ◽  
pp. 2150006
Author(s):  
BEYDA TAŞAR ◽  
AHMET BURAK TATAR ◽  
ALPER KADIR TANYıLDıZı ◽  
OGUZ YAKUT
Keyword(s):  
Neurological Disorders ◽  
Pid Controller ◽  
Hand Function ◽  
Energy Costs ◽  
Proportional Integral Derivative ◽  
Lagrange Method ◽  
Modeling And Control ◽  
The World ◽  
Robotic Orthosis ◽  
And Control

Human hands and fingers are of significant importance in people’s capacity to perform daily tasks (touching, feeling, holding, gripping, writing). However, about 1.5 million people around the world are suffering from injuries, muscle and neurological disorders, a loss of hand function, or a few fingers due to stroke. This paper focuses on newly developed finger orthotics, which is thin, adaptable to the length of each finger and low energy costs. The aim of the study is to design and control a new robotic orthosis using for daily rehabilitation therapy. Kinematic and dynamic analysis of orthosis was calculated and the joint regulation of orthosis was obtained. The Lagrange method was used to obtain dynamics, and the Denavit–Hartenberg (D–H) method was used for kinematic analysis of hand. In order to understand its behavior, the robotic finger orthotics model was simulated in MatLab/Simulink. The simulation results show that the efficiency and robustness of proportional integral derivative (PID) controller are appropriate for the use of robotic finger orthotics.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

scholarly journals Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

2017 ◽  
Author(s):  
Zhengru Ren ◽  
Roger Skjetne ◽  
Zhen Gao
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Multiple Shooting ◽  
Control Input ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Overload Protection ◽  
And Control

This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

scholarly journals Nonlinear Dynamics and Control of a Cube Robot

Mathematics ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1840
Author(s):  
Teh-Lu Liao ◽  
Sian-Jhe Chen ◽  
Cheng-Chang Chiu ◽  
Jun-Juh Yan
Keyword(s):  
Pid Controller ◽  
The Self ◽  
Proportional Integral Derivative ◽  
Servo Motor ◽  
External Disturbances ◽  
Braking System ◽  
Dynamics And Control ◽  
And Control ◽  
Balancing Control ◽  
Nonlinear Dynamics And Control

The paper aims to solve problems of the mathematical modeling and realization of a cube robot capable of self-bouncing and self-balancing. First, the dynamic model of the cube robot is derived by using the conservation of the angular momentum and the torque equilibrium theory. Furthermore, the controllability of the cube robot is analyzed and the angle of the cube robot is derived from the attitude and heading reference system (AHRS). Then the parallel proportional–integral–derivative (PID) controller is proposed for the balancing control of the self-designed cube robot. As for the bounce control of the cube robot, a braking system triggered by the servo motor is designed for converting the kinetic energy to the potential energy. Finally, the experimental results are included to demonstrate that the cube robot can complete the actions of self-bouncing and self-balancing with good robustness to external disturbances.

Control Design of Robotic Manipulator Based on Quantum Neural Network

2017 ◽  
Vol 140 (6) ◽  
Author(s):  
Hayder Mahdi Abdulridha ◽  
Zainab Abdullah Hassoun
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Pid Controller ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
System Response ◽  
Proportional Integral Derivative ◽  
Dynamics Model ◽  
Lagrange Method ◽  
Quantum Neural Network

In this study, a control system was designed to control the robot's movement (The Mitsubishi RM-501 robot manipulator) based on the quantum neural network (QNN). A proposed method was used to solve the inverse kinematics in order to determine the angles values for the arm's joints when it follows through any path. The suggested method is the QNN algorithm. The forward kinematics was derived according to Devavit–Hartenberg representation. The dynamics model for the arm was modeled based on Lagrange method. The dynamic model is considered to be a very important step in the world of robots. In this study, two methods were used to improve the system response. In the first method, the dynamic model was used with the traditional proportional–integral–derivative (PID) controller to find its parameters (Kp, Ki, Kd) by using Ziegler Nichols method. In the second method, the PID parameters were selected depending on QNN without the need to a mathematical model of the robot manipulator. The results show a better response to the system when replacing the traditional PID controller with the suggested controller.

Modeling and Control of Hybrid Electric Vehicle

2021 ◽  
pp. 521-541
Author(s):  
Flah Aymen ◽  
Habib Kraiem ◽  
Lassaad Sbita
Keyword(s):  
Electric Vehicles ◽  
Hybrid Electric Vehicle ◽  
Energy Resource ◽  
Transportation Systems ◽  
Transport Sector ◽  
Management Problem ◽  
Modeling And Control ◽  
The World ◽  
Hybrid Electric ◽  
And Control

The transportation systems have become more electrified, and the major countries of the world program using electric scooters, electric bicycles, electric trains, electric buses, and electric vehicles for their transport. The traditional energy resource stocks are still decreasing rapidly, which makes the world afraid about the future of the transport sector. Therefore, several international restrictions and laws have limited using this kind of energy in relation to the transport sector by encouraging public transport and making a high taxes for the highly energy-consuming cars. The robustness and the efficiency of transportation systems designs are related especially to the internal electric motor and to the battery capacity used. From the other side, the energy management problem presents a serious factor that must be optimized in order to guarantee the overall efficiency and rentability. This chapter explores the modeling and control of hybrid electric vehicles.

scholarly journals Modeling and control of temperature of heat-calibration wind tunnel

2012 ◽  
Vol 16 (5) ◽  
pp. 1433-1436 ◽  
Author(s):  
Yunhua Li ◽  
Fengjian Teng ◽  
Chaozhi Cai
Keyword(s):  
Wind Tunnel ◽  
Control Strategy ◽  
Cascade Control ◽  
Proportional Integral Derivative ◽  
Control Effect ◽  
Modeling And Control ◽  
Proportional Integral ◽  
Sensor Temperature ◽  
And Control ◽  
Better Than

This paper investigates the temperature control of the heat air-flow wind tunnel for sensor temperature-calibration and heat strength experiment. Firstly, a mathematical model was established to describe the dynamic characteristics of the fuel supplying system based on a variable frequency driving pump. Then, based on the classical cascade control, an improved control law with the Smith predictive estimate and the fuzzy proportional-integral-derivative was proposed. The simulation result shows that the control effect of the proposed control strategy is better than the ordinary proportional-integral-derivative cascade control strategy.

Sign in / Sign up

Export Citation Format

Share Document