Hybrid design of PID controller for four DoF lower limb exoskeleton

被引:58
作者
Amiri, Mohammad Soleimani [1 ]
Ramli, Rizauddin [1 ]
Ibrahim, Mohd Faisal [2 ]
机构
[1] Univ Kebangsaan Malaysia, Fac Engn & Built Environm, Ctr Mat Engn & Smart Mfg, Bangi, Malaysia
[2] Univ Kebangsaan Malaysia, Fac Engn & Built Environm, Ctr Integrated Syst Engn & Adv Technol, Bangi, Malaysia
关键词
Lower limb exoskeleton; Proportional-integral-derivative; Genetic algorithm; Particle Swarm Optimization; OPTIMIZATION; ALGORITHM; GA; WALKING;
D O I
10.1016/j.apm.2019.03.002
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
In this paper, a method of tuning a proportional-integral-derivative controller for a four degree-of-freedom lower limb exoskeleton using hybrid of genetic algorithm and particle swarm optimization is presented. Transfer function of each link of the lower limb exoskeleton acquired from a pendulum model, was used in a closed-loop proportional-integral derivative control system, while each link was assumed as one degree-of-freedom linkage. In the control system, the hybrid algorithm was applied to acquire the parameters of the controller for each joint for minimizing the error. The algorithm started with genetic algorithm and continued via particle swarm optimization. Furthermore, a 3-dimensional model of the lower limb exoskeleton was simulated to validate the proposed controller. The trajectory of the control system with optimized proportional-integral-derivative controller via hybrid precisely follows the input signal of the desired. The result of the hybrid optimized controller was compared with genetic algorithm and particle swarm optimization based on statistics. The average error of the proposed algorithm showed the optimized results in comparison with genetic algorithm and particle swarm optimization. Furthermore, the advantages of the hybrid algorithm have been indicated by numerical analysis. (C) 2019 Elsevier Inc. All rights reserved.
引用
收藏
页码:17 / 27
页数:11
相关论文
共 31 条
[1]   Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation [J].
Aguirre-Ollinger, Gabriel ;
Colgate, J. Edward ;
Peshkin, Michael A. ;
Goswami, Ambarish .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2011, 30 (04) :486-499
[2]   Intelligent Control Method of a 6-DOF parallel robot Used for Rehabilitation Treatment in lower limbs [J].
AminiAzar, Wahab ;
Akbarimajd, Adel ;
Parvari, Esmaeil .
AUTOMATIKA, 2016, 57 (02) :466-476
[3]  
[Anonymous], 2012, WORLD ACAD SCI ENG T
[4]  
Astrom K.J., 1995, INSTRUMENT SOC AM
[5]  
Chitta S, 2017, The Journal of Open Source Software, V1, P456, DOI [10.21105/joss.00456, DOI 10.21105/JOSS.00456, 10.21105/ joss.00456]
[6]   PID controller optimization by GA and its performances on the electro-hydraulic servo control system [J].
Elbayomy, Karam M. ;
Jiao Zongxia ;
Zhang Huaqing .
CHINESE JOURNAL OF AERONAUTICS, 2008, 21 (04) :378-384
[7]   A new hybrid algorithm for continuous optimization problem [J].
Farnad, Behnam ;
Jafarian, Ahmad ;
Baleanu, Dumitru .
APPLIED MATHEMATICAL MODELLING, 2018, 55 :652-673
[8]  
Félix P, 2017, IEEE INT CONF AUTON, P110, DOI 10.1109/ICARSC.2017.7964061
[9]  
Gilbert M, 2016, INT CONF UBIQ ROBOT, P348, DOI 10.1109/URAI.2016.7734058
[10]   Model-free based adaptive nonsingular fast terminal sliding mode control with time-delay estimation for a 12 DOF multi-functional lower limb exoskeleton [J].
Han, Shuaishuai ;
Wang, Haoping ;
Tian, Yang .
ADVANCES IN ENGINEERING SOFTWARE, 2018, 119 :38-47