Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes
Apstrakt
The paper designs an appropriate iterative learning control(ILC) algorithm based on the trajectory characteristics of upper exoskeleton robotic system.The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.
Ključne reči:
iterative learning control / Exoskeleton / Rehabilitation / feedback linearizationIzvor:
MATEC Web of Conferences el. Proceedings 292 01010 (2019), 2019, 292, 1-6Izdavač:
- EDP Sciences - Web of Conference
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
- Razvoj novih metoda i tehnika za ranu dijagnostiku kancera grlića materice, debelog creva, usne duplje i melanoma na bazi digitalne slike i ekscitaciono-emisionih spektara u vidljivom i infracrvenom domenu (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
Napomena:
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Zivković, Nikola Lj. AU - Radojević, Darko PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4130 AB - The paper designs an appropriate iterative learning control(ILC) algorithm based on the trajectory characteristics of upper exoskeleton robotic system.The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme. PB - EDP Sciences - Web of Conference C3 - MATEC Web of Conferences el. Proceedings 292 01010 (2019) T1 - Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes EP - 6 SP - 1 VL - 292 DO - https://doi.org/10.1051/matecconf/201929201010 ER -
@conference{ author = "Lazarević, Mihailo and Zivković, Nikola Lj. and Radojević, Darko", year = "2019", abstract = "The paper designs an appropriate iterative learning control(ILC) algorithm based on the trajectory characteristics of upper exoskeleton robotic system.The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.", publisher = "EDP Sciences - Web of Conference", journal = "MATEC Web of Conferences el. Proceedings 292 01010 (2019)", title = "Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes", pages = "6-1", volume = "292", doi = "https://doi.org/10.1051/matecconf/201929201010" }
Lazarević, M., Zivković, N. Lj.,& Radojević, D.. (2019). Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes. in MATEC Web of Conferences el. Proceedings 292 01010 (2019) EDP Sciences - Web of Conference., 292, 1-6. https://doi.org/https://doi.org/10.1051/matecconf/201929201010
Lazarević M, Zivković NL, Radojević D. Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes. in MATEC Web of Conferences el. Proceedings 292 01010 (2019). 2019;292:1-6. doi:https://doi.org/10.1051/matecconf/201929201010 .
Lazarević, Mihailo, Zivković, Nikola Lj., Radojević, Darko, "Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes" in MATEC Web of Conferences el. Proceedings 292 01010 (2019), 292 (2019):1-6, https://doi.org/https://doi.org/10.1051/matecconf/201929201010 . .