PID control with intelligent compensation for exoskeleton robots

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...

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Bibliographic Details
Main Author: Yu, Wen, profesor titular, (Author)
Format: 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.

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Table of contents

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020 |z 9780128133804 
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040 |a YDX  |b eng  |e rda  |e pn  |c YDX  |d N$T  |d EBLCP  |d N$T  |d UIU  |d OPELS  |d OCLCF  |d D6H  |d OTZ 
072 7 |a 681.5  |x Automatizační a řídicí technika  |2 Konspekt  |9 19 
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080 |a 007.52  |2 MRF 
080 |a (035)  |2 MRF 
080 |a (0.034.2:08)  |2 MRF 
100 1 |a Yu, Wen,  |c profesor titular,  |e author. 
245 1 0 |a PID control with intelligent compensation for exoskeleton robots /  |c Wen Yu, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico. 
264 1 |a London ;  |a San Diego :  |b Academic Press, an imprint of Elsvier,  |c [2018] 
264 4 |c ©2018 
300 |a 1 online zdroj :  |b ilustrace. 
336 |a text  |b txt  |2 rdacontent 
337 |a počítač  |b c  |2 rdamedia 
338 |a online zdroj  |b cr  |2 rdacarrier 
504 |a Obsahuje bibliografické odkazy a index. 
506 |a Plný text je dostupný pouze z IP adres počítačů Univerzity Tomáše Bati ve Zlíně nebo vzdáleným přístupem pro zaměstnance a studenty univerzity 
520 |a 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 spaces, with PID controllers compensated by neural networks. This is a great resource on how to combine traditional PD/PID control techniques with intelligent control. Dr. Wen Yu presents several leading-edge methods for designing neural and fuzzy compensators with high-gain velocity observers for PD control using Lyapunov stability. Proportional-integral-derivative (PID) control is widely used in biomedical and industrial robot manipulators. An integrator in a PID controller reduces the bandwidth of the closed-loop system, leads to less-effective transient performance and may even destroy stability. Many robotic manipulators use proportional-derivative (PD) control with gravity and friction compensations, but improved gravity and friction models are needed. The introduction of intelligent control in these systems has dramatically changed the face of biomedical and industrial control engineering - Resumé vydavatel 
588 0 |a Online resource; title from PDF title page (EBSCO, viewed January 23, 2018). 
590 |a Elsevier  |b ScienceDirect All Books 
650 0 7 |a PID regulátory  |7 ph448241  |2 czenas 
650 0 7 |a řídicí systémy  |7 ph128305  |2 czenas 
650 0 7 |a robotika  |7 ph125173  |2 czenas 
650 0 9 |a PID controllers  |2 eczenas 
650 0 9 |a control systems  |2 eczenas 
650 0 9 |a robotics  |2 eczenas 
655 7 |a příručky  |7 fd133209  |2 czenas 
655 7 |a elektronické knihy  |7 fd186907  |2 czenas 
655 9 |a handbooks and manuals  |2 eczenas 
655 9 |a electronic books  |2 eczenas 
856 4 0 |u https://proxy.k.utb.cz/login?url=https://www.sciencedirect.com/science/book/9780128133804  |y Plný text 
942 |2 udc 
992 |c EBOOK-TN  |c ELSEVIER 
993 |x NEPOSILAT  |y EIZ 

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