| Autor: |
Hmaied, Hmida, Sami, Hafsi, Faouzi, Bouani |
| Předmět: |
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| Zdroj: |
Journal of Control, Automation & Electrical Systems; Dec2024, Vol. 35 Issue 6, p1078-1096, 19p |
| Abstrakt: |
This paper focuses on the development and position control of a robotic system specifically designed for passive rehabilitation. The system is a two-degree-of-freedom robot, dedicated to elbow and a wrist joints. The objective of this research is to create a robotic rehabilitation emulation test that allows therapists to implement their therapeutic programs smoothly and efficiently while minimizing any excessive movements or overshooting. The real-time experiments were conducted to compare the performances of four controllers: model predictive controller (MPC), proportional–integral (PI) controller, RST controller, and constrained MPC (CMPC). Sinusoidal and filtered trajectories were studied to determine the optimal controller for energy efficiency. The obtained results demonstrate that the embedded MPC outperforms the other two controllers. The constrained model predictive control design is employed to address the stringent constraints of the robot. Using a rapid quadratic programming solver based on the Hildreth method ensures compliance with the short real-time implementation sampling time. This approach achieves reduced computational costs while balancing control effort against closed-loop performance. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
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