NDLI: Analysis of robustness to gain variation in a fractional-order PI controller for knee joint motion

Content Provider	IEEE Xplore Digital Library
Author	Chevalier, A. Ionescu, C.M. De Keyser, R.
Copyright Year	2014
Description	Author affiliation: Dept. of Electr. Energy, Syst. & Autom., Ghent Univ., Ghent, Belgium (Chevalier, A.; Ionescu, C.M.; De Keyser, R.)
Abstract	Studying knee biomechanics provides insight into injuries and possible treatments. As part of this general research, this papers discusses the design of a Fractional-Order Proportional-Integral (FOPI) controller for the movement of the shank around the knee joint. This system has applications in dynamical knee rigs and active orthoses. The control purpose is to regulate the angle of the shank by manipulating the torque applied to the knee joint. A mathematical model of the system is derived to design the controller using model-based techniques and to perform several simulations in the Simulink® environment. Implementation of the obtained FOPI controller is done by approximating the fractional-order controller by a finite-dimensional integer-order transfer function. A first set of simulations shows the robustness of the control system to large gain variations introduced by differences between several types of knees. Disturbance rejection of the controller is also investigated in a second set of simulation. Results suggest that the designed controller FOPI controller is more robust to gain variations compared to the integer-order PI controller. The second simulations show that the designed controller is able to reject input disturbances.
Starting Page	1
Ending Page	6
File Size	314143
Page Count	6
File Format	PDF
ISBN	9781479925919
DOI	10.1109/ICFDA.2014.6967359
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-23
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Biological system modeling Transfer functions Robustness Mathematical model Joints Gain
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Tuning of fractional order $PI^{λ}D^{μ}$ controllers with five parameter under strong robustness

The Application of Fractional Order PI^?D^μ Controller in Coaler

Fractional order PI control strategy on an activated sludge wastewater treatment process

Application of fractional order controller in a servo control system

Model-based vs auto-tuning design of PID controller for knee flexion during gait

Controller design techniques applied for a case of a linear fractional system

Design of Fractional Order PI controller for liquid level control of spherical tank modeled as Fractional Order System

Performance assesment of IOPI and FOPI controller for FOPDT system

Stability region of fractional-order PI $^{λ}D^{μ}$ controller for fractional-order systems with time delay

Analysis of robustness to gain variation in a fractional-order PI controller for knee joint motion

Similar Documents

Tuning of fractional order $PI^{λ}D^{μ}$ controllers with five parameter under strong robustness

The Application of Fractional Order PI^?D^μ Controller in Coaler

Fractional order PI control strategy on an activated sludge wastewater treatment process

Application of fractional order controller in a servo control system

Model-based vs auto-tuning design of PID controller for knee flexion during gait

Controller design techniques applied for a case of a linear fractional system

Design of Fractional Order PI controller for liquid level control of spherical tank modeled as Fractional Order System

Performance assesment of IOPI and FOPI controller for FOPDT system

Stability region of fractional-order PI $^{λ}D^{μ}$ controller for fractional-order systems with time delay

Analysis of robustness to gain variation in a fractional-order PI controller for knee joint motion