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頁籤選單縮合
題名 | Based on Genetic Algorithm and Input Estimation Approach to Design a Variable Structure Controller for Auxiliary Rehabilitation Robot=結合基因演算法與輸入估測理論於復健機器人之可變結構控制器設計研究 |
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作者姓名(中文) | 陳聰堅; 李永隆; 段彭年; | 書刊名 | 南開學報 |
卷期 | 4:4 2007.12[民96.12] |
頁次 | 頁59-74 |
分類號 | 448.94 |
關鍵詞 | 輸入估測; 滑動模式控制; 卡爾曼濾波器; 機械手臂; 基因演算法; Input estimation approach; IE; Sliding mode controller; SMC; Kalman filter; KF; Genetic algorithm; GA; Rehabilitation robot; |
語文 | 英文(English) |
中文摘要 | 復健機械人手臂所面臨病患的型態與刺激反應的程度極為複雜,若未能掌握病患與機械間的作用力狀況,並適當迴授至控制系統中來進行適應性的調整,將難以讓病患獲致舒適的復健效果。據此本文提出結合基因演算法、輸入估測理論與可變結構系統滑動模式之非線性控制技術,據以設計出具備動態負載估測能力及強健性能之控制系統,以解決復健機械手臂系統在面臨未知系統變異與外界動態負載輸入的狀況下仍能持其高性能之控制效益。其中輸入估測法則係基於卡爾曼濾波器及最小平方法所形成的線上逆向估測法,此可在無須力矩感測元件條件下來進行負載估測;而滑動控制理論則具有對系統參數變動的靈敏度低及抗蛉來高頻負載干擾之特性。此外本文利用基因演算法進行滑動控制器最佳參數之搜尋,以提升控制器之控制性能。最後,本文以下肢復健機械手臂關節控制系統為例,並經由模擬驗證可知,輸入估測法能有效估算及掌握動態負載狀況;而滑動控制器則可有效抑制高頻的干擾輸入。另亦證明所提之控制器架構可有助於提升復健機械人手臂系統的控制效能與增加病人於復健時之舒適性。 |
英文摘要 | As the result of the degree of aging of population is increasingly,that lead to the general public pays more and more attention to the social welfare and social service.Accordingly,the application ambits and the functions of auxiliary rehabilitation devices(ARD) also become more widely and diversely.For this reasons,the control problems of ARD also become more complicated.In view of the above,the sliding mode controller(SMC) that based on genetic algorithm(GA) and input estimation approach(IE) were proposed to solve these problems in this work.It is capable of implementing the disturbance torque input estmation and has higher robustness for the rehabilitation robotic system.The combined method can maintain higher control performance even when the system variation is unknown and under the influence of disturbance input.The IE algorithm is an on-line inverse estimation method involving the Kalman filter(KF) and the least square method,which can estimate the system input without additional torque sensor,and the sliding mode control theory has the characteristics of low sensitivity with variable system parameter and can reject the disturbance.Furthermore,the GA is proposed to search the optimal system parameters for sliding controller that it can promote the control performance.The design and analysis processes of the controller will also be discussed later in this paper.The joint control of the flexible-joint rehabilitation robot system is utilized to test and verify the effectiveness of the control performance.According to the simulation results,the IE is an effective observer for estimating the distrbance torque input,and the SMC controller can effectively cope with the situation that the disturbance exists.Finally,higher control performance of the combined method for joint control of the ehabilitation robotic system can be further verified.That will provide a comfortable rehabilitation process to the patients. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。