scholarly journals Motion Detection Enhanced Control of an Upper Limb Exoskeleton Robot for Rehabilitation Training

2017 ◽  
Vol 14 (01) ◽  
pp. 1650031 ◽  
Author(s):  
Wenjun Ye ◽  
Zhijun Li ◽  
Chenguang Yang ◽  
Fei Chen ◽  
Chun-Yi Su
Keyword(s):  
Motion Detection ◽  
Detection Method ◽  
Control Method ◽  
Control Design ◽  
Training Process ◽  
User Intention ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Control Scheme ◽  
Adaptive Control Scheme

The paper studies the control design of an exoskeleton robot based on electromyography (EMG). An EMG-based motion detection method is proposed to trigger the rehabilitation assistance according to user intention. An adaptive control scheme that compensates for the exoskeleton's dynamics is employed, and it is able to provide assistance tailored to the human user, who is supposed to participate actively in the training process. The experiment results verify the effectiveness of the control method developed in this paper.

scholarly journals A Distributed Autonomous Control Method for TCUL Transformers Using a Fuzzy Adaptive Control Scheme

1999 ◽  
Vol 119 (12) ◽  
pp. 1455-1461 ◽  
Author(s):  
Naoto Yorino ◽  
Takanori Shuto ◽  
Masaomi Nishimoto ◽  
Hiroshi Sasaki ◽  
Hiroaki Sugihara ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Autonomous Control ◽  
Fuzzy Adaptive Control ◽  
Control Scheme ◽  
Adaptive Control Scheme ◽  
Fuzzy Adaptive

L1 adaptive control design of a helicopter in vertical flight

2020 ◽  
Vol 234 (14) ◽  
pp. 2089-2099
Author(s):  
Song Tian ◽  
Jiang Wang ◽  
Defu Lin ◽  
Pei Pei
Keyword(s):  
Adaptive Control ◽  
Flight Control ◽  
Control Design ◽  
Adaptive Controller ◽  
Piecewise Constant ◽  
L1 Adaptive Control ◽  
Control Scheme ◽  
Practical Engineering ◽  
Adaptation Law ◽  
Adaptive Control Scheme

This article presents L1 adaptive control scheme for vertical flight control of helicopter. Linear controller is designed as baseline controller to provide preliminary improvement in performance and robustness. Considering the existence of uncertainties and disturbances, we propose L1 adaptive controller with modified piecewise constant adaptation law to augment the baseline controllers. Further, the proposed L1 adaptive controller can be implemented without any modification of the baseline controller. Benefit from this, the design of the entire control system is significantly simplified, and the designed controller is easy to apply to practical engineering. The simulation results indicate that the proposed controllers have good performance for helicopter vertical flight in the presence of uncertainties and disturbances.

Energy Optimal Control Design for Steer-by-Wire Systems and Hardware-in-the-Loop Simulation Evaluation

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
M. Selçuk Arslan ◽  
Naoto Fukushima
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
Control Method ◽  
Full Range ◽  
Control Design ◽  
Hardware In The Loop ◽  
Yaw Rate ◽  
Control Scheme ◽  
Steer By Wire ◽  
Hil Simulation

A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performance measures to be minimized. The SBW control scheme was tested using Hardware-In-the-Loop (HIL) simulation on an SBW test rig. The case studies performed were high-speed rapid lane change, crosswind, and braking-in-a-turn. HIL simulation results showed that the SBW control scheme was able to maintain vehicle stability. The proposed SBW control design taking advantage of the full range steering of front wheel, significantly improves the vehicle handling capability. The results also demonstrate the importance of SBW control for super lightweight vehicles.

SYNCHRONIZING CASCADE-CONNECTED CHAOTIC SYSTEMS WITH UNCERTAINTIES AND BREAKING CHAOTIC CRYPTOSYSTEMS VIA A NOVEL ADAPTIVE CONTROL SCHEME

2005 ◽  
Vol 15 (08) ◽  
pp. 2457-2468 ◽  
Author(s):  
JUHNG-PERNG SU ◽  
CHUN-CHIEH WANG
Keyword(s):  
Adaptive Control ◽  
Secure Communication ◽  
Chaotic Systems ◽  
Control Method ◽  
Synthesis Method ◽  
Robust Adaptive Control ◽  
Barbalat’S Lemma ◽  
Control Scheme ◽  
Master System ◽  
Adaptive Control Scheme

This paper deals with synchronization problems of chaotic systems by applying a new adaptive variable structure control (AVSC) scheme. On the basis of Lyapunov synthesis method and Barbalat's Lemma, the proposed control law is shown to render the slave system asymptotically synchronized with the master system even though the parameters of the master system are unknown. A robust adaptive control scheme is presented to guarantee the robustness of the synchronization against bounded disturbances. Even for the case that the slave and master chaotic systems are not of the same type, the proposed AVSC may approximately null the synchronization error. We used an uncertain Rössler system, an uncertain Chua's circuit and an uncertain Duffing–Holmes oscillator as examples to illustrate the controller design. Both theoretical and simulation results strongly suggest that chaotic cryptosystems could be broken by the proposed adaptive control method. This reveals the fact that chaos-based cryptosystems may fail to achieve the secure communication.

Robust approximate constraint-following control design for permanent magnet linear motor and experimental validation

2020 ◽  
pp. 107754632092419
Author(s):  
Kang Huang ◽  
Mianhao Wang ◽  
Hao Sun ◽  
Shengchao Zhen
Keyword(s):  
Permanent Magnet ◽  
Experimental Validation ◽  
Control Method ◽  
Fundamental Equation ◽  
Control Design ◽  
Linear Motor ◽  
Initial Condition ◽  
Constraint Manifold ◽  
Control Scheme ◽  
Permanent Magnet Linear Motor

A robust approximate constraint-following control method based on the fundamental equation of Udwadia–Kalaba approach is designed to control the permanent magnet linear motor. The control scheme consists of three parts: the nominal part to suppress any tendency of deviating from the constraints, the second part to deal with any possible initial condition deviation from the constraint manifold and drive the system toward the constraints, and the robust part to compensate for the effect due to uncertainty. Theoretical proof, numerical simulation, and experimental validation have been done to verify the effectiveness of this control method.

Synchronization of Unknown Uncertain Chaotic Systems Via Adaptive Control Method

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Mohammad Pourmahmood Aghababa ◽  
Bijan Hashtarkhani
Keyword(s):  
Adaptive Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Adaptive Controllers ◽  
Control Scheme ◽  
Uncertain Chaotic Systems ◽  
The Stability ◽  
Feedback Control Strategy ◽  
Adaptive Control Scheme

In this paper, an adaptive control scheme is offered to synchronize two different uncertain chaotic systems. It is assumed that the whole dynamics of both master and slave chaotic systems and their bounds are unknown and different. The error system stabilization is achieved in two cases: with input nonlinearities and without input nonlinearities. We design an adaptive control scheme based on the state boundedness property of the chaotic systems. The proposed method does not need any information about nonlinear/linear terms of the chaotic systems. It only uses an adaptive feedback control strategy. The stability of the proposed controllers is proved by using the Lyapunov stability theory. Finally, the designed adaptive controllers are applied to synchronize two different pairs of the chaotic systems (Lorenz–Chen and electromechanical device–electrostatic transducer).

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

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