PID control with intelligent compensation for exoskeleton robots
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 velocit...
| Other Authors: | |
|---|---|
| Format: | eBook |
| Language: | Inglés |
| Published: |
London, England :
Academic Press
2018.
|
| Edition: | First edition |
| Subjects: | |
| See on Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009630761406719 |
Table of Contents:
- 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.
