Control of Lower Limb Rehabilitation Robot Based on Fuzzy PID

DOI

10.2991/caai-18.2018.2How to use a DOI?

Keywords

lower limb rehabilitation robot; speed control; fuzzy PID; Matlab-Adams co-simulation

Abstract

For the problem of speed control of passive training in lower limb rehabilitation robot, a control strategy based on fuzzy PID is proposed. Firstly, the trajectory curve of the position was derived and the fuzzy controller was designed. The kinematics model and the simulation model of the controlled object were established based on Matlab/Simulink and Adams. The simulation results showed that the proposed control strategy was feasible and more classic. The PID control has the advantages of small overshoot, fast response, and high steady-state accuracy. It can better track the planned motion curve and meet the system control performance requirements.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wenyu Huang
AU  - Haibo Xu
AU  - Xing Fan
AU  - Yufeng Lin
PY  - 2018/08
DA  - 2018/08
TI  - Control of Lower Limb Rehabilitation Robot Based on Fuzzy PID
BT  - Proceedings of the 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018)
PB  - Atlantis Press
SP  - 6
EP  - 8
SN  - 2589-4919
UR  - https://doi.org/10.2991/caai-18.2018.2
DO  - 10.2991/caai-18.2018.2
ID  - Huang2018/08
ER  -