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Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory
Author
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-19
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs) because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers.
This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems.
The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems.
In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller.
Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs) in order to determine controller gains based on the Lyapunov direct method.
Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine.
Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.
American Psychological Association (APA)
Chang, Ming-Kun. 2014. Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1049717
Modern Language Association (MLA)
Chang, Ming-Kun. Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory. The Scientific World Journal No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1049717
American Medical Association (AMA)
Chang, Ming-Kun. Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1049717
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1049717