Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory
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 bla...
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| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/464276 |
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| author | Ming-Kun Chang |
| author_facet | Ming-Kun Chang |
| author_sort | Ming-Kun Chang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-dfad087d081b41ffb41eeafd00d104d3 |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-dfad087d081b41ffb41eeafd00d104d32025-08-20T03:26:24ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/464276464276Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy TheoryMing-Kun Chang0Department of Mechanical and Computer-Aided Engineering, St. John’s University, No. 499, Section 4, Tam King Road, Tamsui District, New Taipei City 25135, TaiwanIt 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.http://dx.doi.org/10.1155/2014/464276 |
| spellingShingle | Ming-Kun Chang Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory The Scientific World Journal |
| title | Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory |
| title_full | Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory |
| title_fullStr | Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory |
| title_full_unstemmed | Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory |
| title_short | Tracking Control of a Leg Rehabilitation Machine Driven by Pneumatic Artificial Muscles Using Composite Fuzzy Theory |
| title_sort | tracking control of a leg rehabilitation machine driven by pneumatic artificial muscles using composite fuzzy theory |
| url | http://dx.doi.org/10.1155/2014/464276 |
| work_keys_str_mv | AT mingkunchang trackingcontrolofalegrehabilitationmachinedrivenbypneumaticartificialmusclesusingcompositefuzzytheory |