PID control with intelligent compensation for exoskeleton robots

• Main Author: Yu, Wen, profesor titular (Author)
• Format: Electronic eBook
• Language: English
• Published: London ; San Diego : Academic Press, an imprint of Elsvier, [2018]
• Subjects: PID regulátory; řídicí systémy; robotika; PID controllers; control systems; robotics; příručky; elektronické knihy; handbooks and manuals; electronic books
• ISBN: 9780128134641; 9780128133804
• Physical Description: 1 online zdroj : ilustrace.

Explains how to use neural PD and PID controls to reduce integration gain, and provides explicit conditions on how to select linear PID gains using proof of semi-global asymptotic stability and local asymptotic stability with a velocity observer. These conditions are applied in both task and joint s...