Design and implementation of multivariable robust PID control for an active gait trainer

Fu Cheng Wang*, Chung-huang Yu, Chia Hui Chen

*此作品的通信作者

研究成果: Conference contribution同行評審

1 引文 斯高帕斯(Scopus)

摘要

This paper applies multivariable robust PID control for an active gait trainer for people with walking disability. We integrate linkage mechanism and motors to construct an active gait trainer, which can produce preferred gait traces. First, we find the transfer function matrices of the gait trainer. Second, because robust control can deal with system uncertainties and disturbances, we design standard robust controllers to regulate motor motions during operation. Third, because PID control is well accepted in industrial, we combine the merits of robust control and PID control, and design robust PID controllers for the gait trainer. Lastly, the designed controllers are implemented on cRIO™ and micro-chip systems for experimental verification. The results show the effectiveness of these controllers.

原文English
主出版物標題2012 Proceedings of SICE Annual Conference, SICE 2012
發行者Society of Instrument and Control Engineers (SICE)
頁面2226-2231
頁數6
ISBN(列印)9781467322591
出版狀態Published - 20 8月 2012
事件2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
持續時間: 20 8月 201223 8月 2012

出版系列

名字Proceedings of the SICE Annual Conference

Conference

Conference2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
國家/地區Japan
城市Akita
期間20/08/1223/08/12

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