Elsevier eBooks, Journal Year: 2023, Volume and Issue: unknown, P. 339 - 352
Published: Nov. 3, 2023
Language: Английский
Complex Engineering Systems, Journal Year: 2021, Volume and Issue: unknown
Published: Jan. 1, 2021
Complex Engineering Systems are generally represented in terms of a set interconnected systems that their collective/global behaviors/properties somewhat difficult to be predicted or managed. The context complex engineering is mainly concerned with developing multi-component systems, designs, algorithms exploit those unpredictable behaviors/properties. Complexity general manifested component, product, system, interconnections interacting subsystems multidisciplinary system designs. In broad sense, complexity related the expected amount information may need describe dynamical system.
Language: Английский
Citations
4
Applied Sciences, Journal Year: 2024, Volume and Issue: 14(11), P. 4905 - 4905
Published: June 5, 2024
To improve motion accuracy through functional electrical stimulation (FES) of forearm muscles, feedback control laws are applied to the index finger’s metacarpophalangeal (MP) joint. This paper introduces a proxy-based super-twisting algorithm (PSTA) for precise servo MP joints via FES. The PSTA combines first-order sliding mode with second-order algorithm, effectively preventing windup during FES saturation and ensuring robust, accurate control. An implicit Euler method minimizes numerical chattering in digital implementation. Experiments Arduino volunteers confirm algorithm’s effectiveness.
Language: Английский
Citations
0
Bioengineering, Journal Year: 2024, Volume and Issue: 11(7), P. 683 - 683
Published: July 5, 2024
Cycling stands as one of the most widely embraced leisure activities and serves purposes such exercise, rehabilitation, commuting. This study aimed to assess feasibility assisting three unimpaired participants (age: 34.0 ± 7.9 years, height: 1.86 0.02 m, weight: 75.7 12.7 kg) using GuroX hip exoskeleton, originally designed for walking assistance, during cycling against a resistance 1 W/kg. The performance evaluation employed sweep protocol that manipulated timing exoskeleton’s peak extension flexion torque in addition human-in-the-loop optimization enhance these timings based on metabolic cost. Our findings indicate with assistance approximately 10.3 Nm flexion, substantially reduced net cost by 31.4 8.1% 26.4 14.1% compared transparent without exoskeleton conditions, respectively. demonstrates significant potential developed profoundly benefit cycling. Additionally, customizing strategy proves beneficial maximizing assistance. While we attribute average motor power be major contributor effort, participant feedback suggests user comfort synchronization between may have played integral roles. Further research should validate our initial employing larger pool real-world conditions. Incorporating more diverse set parameters could individualized strategies.
Language: Английский
Citations
0
Measurement and Control, Journal Year: 2022, Volume and Issue: 56(1-2), P. 93 - 113
Published: Sept. 4, 2022
To improve the accuracy of speed estimation strategy over a wide range in sensorless control system an interior permanent – magnet synchronous motor (IPMSM), full-order adaptive observer based on novel fast super-twisting algorithm (NFSTA-AO) is proposed. The conventional model reference (MRAS) takes linear compensation matrix unit matrix, which can only achieve discrimination within certain range. Therefore, this paper, new first derived using Popov’s super stability theory, and then, tachograph law obtained. A feedback correction link also added to adjustable convergence error between outputs. further strategy, (NFSTA) introduced place observer, combining advantages both algorithms. NFSTA inverse hyperbolic sine function state variables integral term (FSTA) effectively suppress torque pulsation system. soft switching designed replace symbolic order reduce jitter caused by sliding mode variable structure control. simulation experiments show that NFSTA-AO more resistant disturbances robust; additionally, it has better dynamic following than MRAS presence load sudden changes.
Language: Английский
Citations
2
Machines, Journal Year: 2023, Volume and Issue: 11(10), P. 937 - 937
Published: Oct. 1, 2023
The knee hybrid exoskeleton is a system that aids in the rehabilitation of patients with mobility disorders. It comprises powered and functional electrical stimulation, which moves joint by stimulating muscles. However, stimulation muscles can lead to muscle fatigue. For first time, this article investigates regulation fatigue controlling activation. To control activation, an innovative adaptive controller for FES designed. adaptation law designed utilizing time-varying estimation activation time parameter. proportional-integral regulate angle motor. gains are calculated using optimization method. A cooperative structure presented use motor simultaneously. error uniformly ultimately bounded, its boundedness proven through Lyapunov analysis; bound also determined. simulation results showed regulation. proposed method were compared those based on model predictive switching control, significant improvement appropriate practical implementation obtained results.
Language: Английский
Citations
0
Elsevier eBooks, Journal Year: 2023, Volume and Issue: unknown, P. 339 - 352
Published: Nov. 3, 2023
Language: Английский
Citations
0