系統識別號 | U0002-1807201310442800 |
---|---|
DOI | 10.6846/TKU.2013.00670 |
論文名稱(中文) | 運用T-S模糊小腦位置追蹤在下肢復健系統 |
論文名稱(英文) | Tracking Control for Lower-Limb Rehabilitation System using Takagi-Sugeno Cerebellar Model Articulation Control |
第三語言論文名稱 | |
校院名稱 | 淡江大學 |
系所名稱(中文) | 電機工程學系碩士班 |
系所名稱(英文) | Department of Electrical and Computer Engineering |
外國學位學校名稱 | |
外國學位學院名稱 | |
外國學位研究所名稱 | |
學年度 | 101 |
學期 | 2 |
出版年 | 102 |
研究生(中文) | 陳柏宏 |
研究生(英文) | Po-Honh Chen |
學號 | 600470180 |
學位類別 | 碩士 |
語言別 | 英文 |
第二語言別 | |
口試日期 | 2013-06-27 |
論文頁數 | 46頁 |
口試委員 |
指導教授
-
劉寅春
委員 - 江東昇 委員 - 邱謙松 |
關鍵字(中) |
追蹤, T-S模糊 線性矩陣不等式 小腦模型控制器 復健 |
關鍵字(英) |
Tracking T-S fuzzy LMI CMAC Rehabilitation |
第三語言關鍵字 | |
學科別分類 | |
中文摘要 |
近年來,技術性輔助運用在功能性復健器材受到非常大的關注,許多類型的復健器材之設計被相繼的提出,並運用各種控制器加以實現。在本篇論文中,我們使用一個名為T-S小腦模糊控制器的方法,用來對於我們的下肢復健系統進行追蹤控制。而我們提出的控制架構有兩個部分,第一個部份是追蹤產生器,第二個部分T-S小腦模糊控制器。在模擬的結果中,我們的系統表現出良好的追蹤性能。 |
英文摘要 |
In recent year, Technical assistance to functional rehabilitation device has attracted great interest. Many kind of rehabilitation device have been designed and implemen-tation by varied control theorem. In this study, we introduce an adaptive Tak-agi-Sugeno cerebellar model articulation control (T-S CMAC) for tracking control of lower-limb rehabilitation system. The proposed control structure is based on two parts. The first part is trajectory generator, and second part is T-S CMAC controller. In the simulation results, the tracking performance can be proved. |
第三語言摘要 | |
論文目次 |
Contents Abstract in Chinese I Abstract in English II Contents III List of Figures V List of Tables VII 1 Introduction 1 1.1 Research Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.1.1 Rehabilitation Techniques . . . . . . . . . . . . . . . . . . . . . 2 1.1.2 Fuzzy System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1.3 Linear Matrix Inequalities . . . . . . . . . . . . . . . . . . . . . 5 1.1.4 Cerebellar model articulation controller . . . . . . . . . . . . . . 6 1.1.5 Cerebellar Model Articulation Controller with T-S Fuzzy Model 7 1.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2 Concept of System 14 2.1 Rehabilitation strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2 Trajectory generator design . . . . . . . . . . . . . . . . . . . . . . . . 15 2.3 Dynamic model of the device . . . . . . . . . . . . . . . . . . . . . . . 16 3 Dynamic Output Feedback Controller 20 3.1 Fuzzy model-based robust H1 control design . . . . . . . . . . . . . . . 20 3.2 TS-SCMAC network . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.3 Constraint of Generalized Kinematics . . . . . . . . . . . . . . . . . . . 32 4 Numerical Simulations 34 4.1 Trajectory Generator test . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.2 Mobile Support Tracking test . . . . . . . . . . . . . . . . . . . . . . . 35 4.3 Simulation of Whole System . . . . . . . . . . . . . . . . . . . . . . . . 36 5 Conclusions 41 5.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 References 31 List of Figures 1.1 Exercise in OMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Exercise in CMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 CMAC basic structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.4 CMAC separate each input to each memory region . . . . . . . . . . . 9 1.5 CMAC structure with T-S fuzzy model . . . . . . . . . . . . . . . . . . 9 2.1 External efforts which affected system’s flexion-extension . . . . . . . . 14 2.2 External efforts which affected system’s internal-external rotation . . . 15 2.3 Trajectory generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.4 Mechanical principle from the rehabilitation device . . . . . . . . . . . 16 3.1 The configuration of TS-SCMAC . . . . . . . . . . . . . . . . . . . . . 26 3.2 The overall structure of the TS fuzzy model based VDV via TS-SCMAC control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.1 Plant of simulation 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.2 (a) Patient efforts on q1(b) Desired trajectory(c) Desired velocity . . . . 35 4.3 Plant of simulation 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.4 (a) Output of q1 and desired q1r(b) Output of q˙1 and desired q˙1r(c) Patient effort and control signal of 40 ∗ CM1 . . . . . . . . . . . . . . . . . . . 37 4.5 (a) Output of q2 and desired q2r(b) Output of q˙2 and desired q˙2r(c) Patient effort and control signal of CM2 . . . . . . . . . . . . . . . . . . . . . . 37 4.6 Plant of simulation 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.7 (a) Output of q1 and desired q1r(b) Error of q1(c) Control signal of CM1 38 4.8 (a) Output of q˙1 and desired q˙1r(b) Error of q˙1(c) Control signal of CM1 39 4.9 (a) Output of q2 and desired q2r(b) Error of q2(c) Control signal of CM2 39 4.10 (a) Output of q˙2 and desired q˙2r (b) Error of q˙2 (c) Control signal of CM2 40 List of Tables 2.1 Numerical parameters of the dynamical model of the rehabilitation device 19 |
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