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Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete
The advanced iterative learning control algorithm for rehabilitation exoskeletons
dc.creator | Lazarević, Mihailo | |
dc.creator | Živković, Nikola | |
dc.date.accessioned | 2022-09-19T19:04:09Z | |
dc.date.available | 2022-09-19T19:04:09Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 1820-0206 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/3361 | |
dc.description.abstract | U ovom radu predložen je napredni iterativni algoritam kontrole učenja za rehabilitacione egzoskelete. Pojednostavljeni biomehanički model koristi se kao objekt upravljanja kako bi se proverila izvodljivost algoritma upravljanja. Projektovano upravljanje je predloženo kao dvostepeni regulator koji se sastoji od unutrašnje i spoljašnje petlje. U unutrašnjoj petlji primjenjuje se linearizacija kako bi se eliminisala nelinearnost modela. U spoljašnjoj petlji napredni iterativni algoritam upravljanja učenja tipa sgnPDD2 primjenjuje se kao kontroler u direktnoj grani, a klasični PD kontroler kao kontroler u povratnoj grani. Dodaju se nesigurnosti kako bi se ispitala robusnost projektovanog kontrolera. Sprovedena je numerička simulacija. | sr |
dc.description.abstract | In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out. | en |
dc.publisher | Vojnotehnički institut, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Scientific Technical Review | |
dc.subject | neizvesnost | sr |
dc.subject | iterativna kontrola učenja | sr |
dc.subject | feedback linearizacija | sr |
dc.subject | biomehanički model | sr |
dc.subject | uncertainty | en |
dc.subject | iterative learning control | en |
dc.subject | feedback linearization | en |
dc.subject | biomechanical model | en |
dc.title | Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete | sr |
dc.title | The advanced iterative learning control algorithm for rehabilitation exoskeletons | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 34 | |
dc.citation.issue | 3 | |
dc.citation.other | 70(3): 29-34 | |
dc.citation.rank | M51 | |
dc.citation.spage | 29 | |
dc.citation.volume | 70 | |
dc.identifier.doi | 10.5937/str2003029L | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1971/3358.pdf | |
dc.type.version | publishedVersion |