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Record Nr. |
UNINA9910583384703321 |
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Autore |
Yu Wen (Robotics engineer) |
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Titolo |
PID control with intelligent compensation for exoskeleton robots / / Wen Yu |
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Pubbl/distr/stampa |
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London, England : , : Academic Press, , 2018 |
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©2018 |
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ISBN |
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0-12-813464-X |
0-12-813380-5 |
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Edizione |
[First edition.] |
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Descrizione fisica |
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1 online resource (236 pages) : illustrations |
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Disciplina |
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Soggetti |
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PID controllers |
Intelligent control systems |
Robotics |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Nota di bibliografia |
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Includes bibliographical references and index. |
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Nota di contenuto |
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Preliminaries -- 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. |
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Sommario/riassunto |
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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 spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop |
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