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...
Clasificación: | Libro Electrónico |
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Autor principal: | |
Formato: | Electrónico eBook |
Idioma: | Inglés |
Publicado: |
London ; San Diego :
Academic Press, an imprint of Elsvier,
[2018]
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Temas: | |
Acceso en línea: | Texto completo (Requiere registro previo con correo institucional) |
Tabla de Contenidos:
- Stable PID control and systematic tuning of PID gains
- PID control in task space
- PD control with neural compensation
- PID control with neural compensation
- PD control with fuzzy compensation
- PD control with sliding mode compensation
- PID admittance control in task space
- PID admittance control in joint space
- Robot trajectory generation in joint space
- Design of upper limb exoskeletions.