Optimized Fuzzy Control with Genetic Algorithms and Differential Evolution for Tracking the Trajectories of an Ankle Prosthesis

Autor:	Rocío Ambrocio-Delgado, Arturo Téllez-Velázquez, Esther Lugo-González, Francisco Javier Espinosa-Garcia
Rok vydání:	2021
Předmět:	Control theory Computer science Differential evolution Trajectory PID controller Fuzzy control system MATLAB Trial and error computer Fuzzy logic computer.programming_language
Zdroj:	Advances in Soft Computing ISBN: 9783030898199 MICAI (2)
DOI:	10.1007/978-3-030-89820-5_26
Popis:	This work presents a comparison between three Mandani controllers (trial and error, optimized with Genetic Algorithms (GA), and Differential Evolution (DE)) and a traditional PID controller in the trajectory tracking application in the sagittal/frontal planes of an ankle, considering a disturbance that simulates the existence of an irregularity in the walking surface. The controller rulebase design uses only the error signals and the error derivative. For the implementation of the mentioned controllers, a co-simulation is presented using the MatLAb fuzzy Toolbox, Simulink PID block of Matlab, and Adams View. From the results obtained, a comparison is made to determine the computation time and the position error to choose the best one for the tracking the trajectories of an ankle prosthesis.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::9eb5187cb820715cb0f3bec36f5b3f2a https://doi.org/10.1007/978-3-030-89820-5_26 Zobrazit plný text záznamu