Offline ANN-PID Controller Tuning on a Multi-Joints Lower Limb Exoskeleton for Gait Rehabilitation.
Karrar H. Al-WaeliRizauddin RamliSallehuddin Mohamed HarisZuliani Binti ZulkoffliMohammad Soleimani AmiriPublished in: IEEE Access (2021)
Keyphrases
- pid controller
- pid parameters
- joint angles
- degrees of freedom
- tuning parameters
- proportional integral derivative
- control method
- artificial neural networks
- control system
- control scheme
- rbf neural network
- fuzzy control
- fractional order
- closed loop
- position control
- bp neural network
- inverse kinematics
- robot manipulators
- pid control
- particle swarm optimization
- strong robustness
- human body
- real time
- quantum genetic algorithm
- lower extremity
- pso algorithm
- neural network
- radial basis function
- fuzzy logic controller
- control algorithm
- fuzzy pid controller
- fuzzy pid
- control strategy
- gait recognition
- back propagation
- control law
- motion planning
- matlab simulink
- human motion
- adaptive control
- differential evolution
- genetic algorithm
- fuzzy pid control