Pid Control with Intelligent Compensation for Exoskeleton Robots

by Wen Yu

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 spaces, with PID controllers compensated by neural networks. This is a great...

• Format: Paperback
• Language: English
• ISBN: 0128133805
• ISBN13: 9780128133804
• Release Date: January 2018
• Publisher: Academic Press
• Length: 234 Pages
• Weight: 0.91 lbs.
• Dimensions: 0.5" x 7.5" x 9.3"