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Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes
dc.creator | Lazarević, Mihailo | |
dc.creator | Zivković, Nikola Lj. | |
dc.creator | Radojević, Darko | |
dc.date.accessioned | 2023-02-01T10:52:38Z | |
dc.date.available | 2023-02-01T10:52:38Z | |
dc.date.issued | 2019 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4130 | |
dc.description.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. | sr |
dc.language.iso | en | sr |
dc.publisher | EDP Sciences - Web of Conference | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Integrated and Interdisciplinary Research (IIR or III)/41006/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | MATEC Web of Conferences el. Proceedings 292 01010 (2019) | sr |
dc.subject | iterative learning control | sr |
dc.subject | Exoskeleton | sr |
dc.subject | Rehabilitation | sr |
dc.subject | feedback linearization | sr |
dc.title | Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY | sr |
dc.citation.epage | 6 | |
dc.citation.rank | M33 | |
dc.citation.spage | 1 | |
dc.citation.volume | 292 | |
dc.description.other | [ https://www.matec-conferences.org/articles/matecconf/pdf/2019/41/matecconf_cscc2019_01010.pdf ] | sr |
dc.identifier.doi | https://doi.org/10.1051/matecconf/201929201010 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9661/2019___matecconf_cscc2019_01010.pdf | |
dc.type.version | publishedVersion | sr |