PID control with intelligent compensation for exoskeleton robots /

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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...

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Détails bibliographiques
Cote:Libro Electrónico
Auteur principal: Yu, Wen (Robotics engineer) (Auteur)
Format: Électronique eBook
Langue:Inglés
Publié: London ; San Diego : Academic Press, an imprint of Elsvier, [2018]
Sujets:
PID controllers.
Intelligent control systems.
Robotics.
Robotics
R�egulateurs PID.
Commande intelligente.
Robotique.
TECHNOLOGY & ENGINEERING > Engineering (General)
Intelligent control systems
PID controllers
Accès en ligne:Texto completo
Table des matières:
  • 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.

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