Hybrid design of PID controller for four DoF lower limb exoskeleton

Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Faisal Ibrahim

Research output: Contribution to journalArticle

Abstract

In this paper, a method of tuning a proportional-integral-derivative controller for a four degree-of-freedom lower limb exoskeleton using hybrid of genetic algorithm and particle swarm optimization is presented. Transfer function of each link of the lower limb exoskeleton acquired from a pendulum model, was used in a closed-loop proportional-integral-derivative control system, while each link was assumed as one degree-of-freedom linkage. In the control system, the hybrid algorithm was applied to acquire the parameters of the controller for each joint for minimizing the error. The algorithm started with genetic algorithm and continued via particle swarm optimization. Furthermore, a 3-dimensional model of the lower limb exoskeleton was simulated to validate the proposed controller. The trajectory of the control system with optimized proportional-integral-derivative controller via hybrid precisely follows the input signal of the desired. The result of the hybrid optimized controller was compared with genetic algorithm and particle swarm optimization based on statistics. The average error of the proposed algorithm showed the optimized results in comparison with genetic algorithm and particle swarm optimization. Furthermore, the advantages of the hybrid algorithm have been indicated by numerical analysis.

Original languageEnglish
Pages (from-to)17-27
Number of pages11
JournalApplied Mathematical Modelling
Volume72
DOIs
Publication statusPublished - 1 Aug 2019

Fingerprint

PID Controller
Particle swarm optimization (PSO)
Particle Swarm Optimization
Controller
Controllers
Genetic algorithms
Genetic Algorithm
Directly proportional
Control System
Hybrid Algorithm
Derivatives
Control systems
Derivative
Degree of freedom
Pendulum
Pendulums
Linkage
Transfer Function
Closed-loop
Transfer functions

Keywords

  • Genetic algorithm
  • Lower limb exoskeleton
  • Particle Swarm Optimization
  • Proportional-integral-derivative

ASJC Scopus subject areas

  • Modelling and Simulation
  • Applied Mathematics

Cite this

Hybrid design of PID controller for four DoF lower limb exoskeleton. / Amiri, Mohammad Soleimani; Ramli, Rizauddin; Ibrahim, Mohd Faisal.

In: Applied Mathematical Modelling, Vol. 72, 01.08.2019, p. 17-27.

Research output: Contribution to journalArticle

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