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...
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
London
Academic Press, an imprint of Elsvier
[2018]
|
| Schlagworte: | |
| Online-Zugang: | FAW01 FLA01 Volltext Volltext Volltext |
| Zusammenfassung: | 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 system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering |
| Beschreibung: | Includes bibliographical references and index |
| Beschreibung: | 1 online resource illustrations |
| ISBN: | 012813464X 9780128134641 |
Internformat
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| 520 | |a 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 system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering | ||
| 650 | 7 | |a TECHNOLOGY & ENGINEERING / Engineering (General) |2 bisacsh | |
| 650 | 7 | |a Intelligent control systems |2 fast | |
| 650 | 7 | |a PID controllers |2 fast | |
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Datensatz im Suchindex
| _version_ | 1804179235369123840 |
|---|---|
| any_adam_object | |
| author | Yu, Wen |
| author_facet | Yu, Wen |
| author_role | aut |
| author_sort | Yu, Wen |
| author_variant | w y wy |
| building | Verbundindex |
| bvnumber | BV045382874 |
| classification_rvk | ZQ 9950 |
| collection | ZDB-33-ESD ZDB-33-EBS |
| ctrlnum | (ZDB-33-ESD)on1019750231 (ZDB-33-EBS)on1019750231 (OCoLC)1019750231 (DE-599)BVBBV045382874 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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| id | DE-604.BV045382874 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T08:16:38Z |
| institution | BVB |
| isbn | 012813464X 9780128134641 |
| language | English |
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| publishDate | 2018 |
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| publisher | Academic Press, an imprint of Elsvier |
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| spelling | Yu, Wen Verfasser aut PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico London Academic Press, an imprint of Elsvier [2018] © 2018 1 online resource illustrations txt rdacontent c rdamedia cr rdacarrier Includes bibliographical references and index 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 system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering TECHNOLOGY & ENGINEERING / Engineering (General) bisacsh Intelligent control systems fast PID controllers fast Robotics fast PID controllers Intelligent control systems Robotics Ektoskelett (DE-588)4256955-2 gnd rswk-swf PID-Regler (DE-588)4226247-1 gnd rswk-swf Ektoskelett (DE-588)4256955-2 s PID-Regler (DE-588)4226247-1 s 1\p DE-604 Erscheint auch als Druck-Ausgabe 9780128133804 http://www.sciencedirect.com/science/book/9780128133804 Verlag URL des Erstveröffentlichers Volltext https://www.sciencedirect.com/science/book/9780128133804 Verlag URL des Erstveröffentlichers Volltext http://ezaccess.libraries.psu.edu/login?url=https://www.sciencedirect.com/science/book/9780128133804 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Yu, Wen PID control with intelligent compensation for exoskeleton robots TECHNOLOGY & ENGINEERING / Engineering (General) bisacsh Intelligent control systems fast PID controllers fast Robotics fast PID controllers Intelligent control systems Robotics Ektoskelett (DE-588)4256955-2 gnd PID-Regler (DE-588)4226247-1 gnd |
| subject_GND | (DE-588)4256955-2 (DE-588)4226247-1 |
| title | PID control with intelligent compensation for exoskeleton robots |
| title_auth | PID control with intelligent compensation for exoskeleton robots |
| title_exact_search | PID control with intelligent compensation for exoskeleton robots |
| title_full | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_fullStr | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_full_unstemmed | PID control with intelligent compensation for exoskeleton robots Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico |
| title_short | PID control with intelligent compensation for exoskeleton robots |
| title_sort | pid control with intelligent compensation for exoskeleton robots |
| topic | TECHNOLOGY & ENGINEERING / Engineering (General) bisacsh Intelligent control systems fast PID controllers fast Robotics fast PID controllers Intelligent control systems Robotics Ektoskelett (DE-588)4256955-2 gnd PID-Regler (DE-588)4226247-1 gnd |
| topic_facet | TECHNOLOGY & ENGINEERING / Engineering (General) Intelligent control systems PID controllers Robotics Ektoskelett PID-Regler |
| url | http://www.sciencedirect.com/science/book/9780128133804 https://www.sciencedirect.com/science/book/9780128133804 http://ezaccess.libraries.psu.edu/login?url=https://www.sciencedirect.com/science/book/9780128133804 |
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