Concept and Takagi–Sugeno descriptor tracking controller design of a closed muscular chain lower-limb rehabilitation device
| Autor: | Lynda Seddiki, Kevin Guelton, Janan Zaytoon |
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| Rok vydání: | 2010 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Control and Optimization Linear matrix inequality Control engineering 02 engineering and technology Fuzzy control system Nonlinear control Motion control Fuzzy logic Computer Science Applications Human-Computer Interaction symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering symbols Trajectory 020201 artificial intelligence & image processing Electrical and Electronic Engineering Mathematics |
| Zdroj: | IET Control Theory & Applications. 4:1407-1420 |
| ISSN: | 1751-8652 1751-8644 |
| DOI: | 10.1049/iet-cta.2009.0269 |
| Popis: | The authors consider the kinematic concepts of a new lower-limb rehabilitation device in closed muscular chain. The proposed control structure is based on a trajectory generator and a continuous non-linear tracking controller. The human efforts applied to this device are considered as external disturbances to the system's dynamics and as inputs to the trajectory generator and allow safe voluntary control of the system by the user. A H ∞ control structure based on a Takagi-Sugeno descriptor model is proposed to track the desired trajectories and to attenuate external disturbances. Stability conditions are given in terms of linear matrix inequalities using a fuzzy Lyapunov function. Finally, the simulation results of the proposed control structure for the new rehabilitation device during isokinetic movements illustrate the efficiency of the proposed approach. |
| Databáze: | OpenAIRE |
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