scholarly journals An Adaptive Control for the Path Tracking of an Active Leg Prosthesis

2021 ◽  
Vol 1 (2) ◽  
pp. 159-176
Author(s):  
Rahma Boucetta ◽  
Wiem Abdallah ◽  
Saloua Bel Hadj Ali

This paper presents an adaptive fuzzy-PID control strategy applied to an active lower limb prosthesis for trajectories tracking in normal walking, stairs climbing, and stairs descent. Trying to imitate a natural human limb, the prosthesis design challenges rehabilitating amputees to resume normal activities. A dynamic model of an ankle-knee active prosthesis is developed without ground reaction in a first case and introduces ground effect in a second one to ameliorate prothesis performances. The obtained models are used to synthesize a control strategy based on TS fuzzy concepts and PID control to reproduce human lower limb behavior in a normal gait and climb and descent of stairs. The RSME errors are calculated to evaluate and compare the various results performances and eventually show the capacity of the proposed control with ground reaction impact on trajectory tracking. The RMSE values obtained for the four outputs of the fuzzy controller are very small for the different modes of locomotion. Moreover, they become weaker when the ground reaction forces are added to the model to show the role of these forces for the body equilibrium maintaining during the gait cycle. The developed approach ensured good trajectories tracking compared to a healthy leg even in presence of disturbances.

2011 ◽  
Vol 48-49 ◽  
pp. 331-334
Author(s):  
Cheng Long Gong ◽  
Jing Zhuo Wang ◽  
Yuan Feng

This paper introduces a computer control network system which can control sintering process of four PTFE molding furnaces accurately. System in-out signals such as sintering temperature, on-off signals of dial motor and aeration motor were connected to Lonworks via net nodes, and network variables were used to construct a configuration and interlinkage between the net nodes. We chose a combined-control strategy in which On-off control or Fuzzy-control or Fuzzy-PID control strategy were selected automatically, so the needs to sintering time, cooling speed, steady-state precision etc were accurately achieved.


2013 ◽  
Vol 341-342 ◽  
pp. 1023-1027
Author(s):  
Hui Guo ◽  
Guo Chun Sun ◽  
Min Fan

An automobile power-train active mount system with a piezoelectric stack actuator is introduced. The influence caused by power-train to the body of the car is analyzed by means of parameter self-tuning fuzzy PID control, on which the simulating results are based. It turns out that this control scheme can restrain the influence better caused by power-train to the body of the car.


2013 ◽  
Vol 816-817 ◽  
pp. 857-861
Author(s):  
You Jun Yue ◽  
Yue Xu ◽  
Hui Zhao ◽  
Hong Jun Wang

When wind turbine works under rated wind speed, we often use fuzzy controller to control rotate speed and keep the best sharp blade speed to achieve the aim of capture the largest wind power. Due to the nonlinearity of wind power, the uncertainty of timely change and other factors, though fuzzy PID control is the combination of fuzzy control and PID control, which can solve the problem of nonlinear very well, it focuses only on the fuzziness, and fails to consider the random error brought by wind speed change. Therefore this paper designed fuzzy reasoning PID controller based on cloud model on the base of analyzing parameters of wind power and advantage as well as shortage of both PID control and fuzzy control. Then start the RT-LAB simulation platform. The simulation result proved that this method can effectively depress the overshoot. And its stability and dynamic speed response is better than PID control and fuzzy control. It achieved ideal result.


2012 ◽  
Vol 220-223 ◽  
pp. 880-883
Author(s):  
Hui Wang ◽  
Zhuo Xu

According to the problem of large overshoot in the variable pump constant pressure output, the fuzzy controller and PID controller were combined. The dynamic response of system output pressure was obtained by combining simulation with a fuzzy adaptive PID controller designed in Matlab/Simulink and mechanical hydraulic model established in AMESim. The simulation results show that fuzzy PID control can achieve the goal of system response without overshoot, and response speed is improved further. The anti-interference ability is also stronger.


2020 ◽  
Vol 10 (22) ◽  
pp. 7983
Author(s):  
Ge Zhao ◽  
Jian Wang ◽  
Wei Li ◽  
Jinsong Zhu

During the multi-channel confluent water supply process, the pressure control of the main pipe is often held back by such problems as non-linearity, hysteresis and parameter uncertainty, its own unique load dynamic changes, channel switching disturbance and other system characteristics caused by the actual working conditions. Moreover, pressure fluctuations in the main pipe will lead to a reduction in the service life of fire-fighting equipment, an increase in the failure rate, and even an interruption of the fire-fighting water supply. Therefore, a master and auxiliary control strategy is proposed to stabilize the pressure change in the process of multi-channel concentrated water supply switching, by using variable universe fuzzy proportional integral derivative (PID) control as the main controller on the main pipe and traditional PID control as the subsidiary controller on the channel. The control strategy is verified by the co-simulation platforms of LabVIEW and AMESim. Simulation results show that the variable universe fuzzy PID control and the master and auxiliary compound control based on the variable universe fuzzy PID control have advantages in step response, tracking response and anti-interference, respectively. The parameters obtained in the co-simulation are used in the experimental system. The experimental results show that the maximum deviation rate of main pipe pressure can be reduced by about 10% compared with other control methods under different loads. In conclusion, the proposed control strategy has strong anti-interference ability, fast dynamic response speed, high stability and good peak shaving effect.


2013 ◽  
Vol 325-326 ◽  
pp. 1193-1196
Author(s):  
Guo Sheng Xu

In view of the fact that the performance of any conventional PID control can t meet the requirement an electric boiler temperature control system, this paper puts forward a kind of improved algorithm for tuning the PID parameters. an adaptive fuzzy controller with adjusting factor is proposed in this paper. Experimental results illustrate that the adaptive fuzzy PID controller achieved the system performance index. The method of adaptive fuzzy PID control is a ideal method.


2012 ◽  
Vol 542-543 ◽  
pp. 675-678
Author(s):  
Suo Jun Hou ◽  
Wen Ku Shi ◽  
Mao Yang ◽  
Hai Sheng Li

A MRF fluid engine mount with controlled annular access, inertia track and decoupler is designed. Through the experiment it can be seen that the low frequency performance of the mount is greatly improved. Then the dynamic low frequency performance of the mount using the fuzzy PID control method of two degrees-of-freedom system in different engine speed is simulated and the results show that the fuzzy PID control method is effective to reduce the body acceleration.


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