Design of Adaptive PID Controller for Lower Limb Rehabilitation Robot Based on Particle Swarm Optimization Algorithm.

Authors

  • Noor Sabah Wasit University / Electrical Engineering Department
  • Ekhlas Hameed Department of Computer Engineering, Mustansiriyah University, Baghdad, Iraq.
  • Muayed S AL-Huseiny Department of Electrical Engineering, Wasit University, Wasit, Iraq.

DOI:

https://doi.org/10.31185/ejuow.Vol10.Iss1.241

Keywords:

Adaptive PID, Lower limb, Rehabilitation robot, Particle swarm optimization algorithm.

Abstract

The proportional-integral-derivative (PID) is still the most common controller and stabilizer used in industry due to its simplicity and ease of implementation. However, in most of the real applications, the controlled system has parameters that slowly vary or are uncertain. Thus, PID gains must be adapted to cope with such changes.

In this research, an Adaptive Proportional-Integral-derivative controller (APID) is proposed to control the 2-DOF lower limb rehabilitation robot system. The parameters gains of the proposed controller are optimized using the Particle Swarm Optimization algorithm (PSO). The simulation results show no overshoot and zero steady-state error, but large settling time (ts=3.654 sec. for link1 and ts=2.844 sec. for link2) for linear path, and the actual path tracks the desired path with a large error for the nonlinear path. The results illustrate that the robot's performance is inefficient for linear and nonlinear paths when using the APID controller to control the lower limb rehabilitation robot. Therefore, the controller needs to modify for controlling the robot efficiently.

Downloads

Download data is not yet available.

References

N. Sabah, E. Hameed, and M. S. Al-Huseiny, “Optimal Sliding Mode Controller Design Based on Whale Optimization Algorithm For Lower Limb Rehabilitation Robot,” ACS Applied Computer Science, vol. 17, no. 3, pp. 47–59, 2021, doi: 10.23743/acs-2021-20.

J. Zahid, K. Xiang Khor, C. Fai Yeong, E. Lee Ming Su, and F. Duan, “Adaptive Control of DC motor for one-DOF Rehabilitation Robot,” Elektrika Journal of Electrical Engineering, vol. 16, no. 3, pp. 1–5, 2017, [Online]. Available: www.fke.utm.my/elektrika.

T. Proietti, N. Jarrasse, A. Roby-Brami, and G. Morel, “Adaptive control of a robotic exoskeleton for neurorehabilitation,” in 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), Apr 2015, Montpellier, France, 2015, pp. 803–806. [Online]. Available: https://hal.archives-ouvertes.fr/hal-02110265.

R. Roy et al., “Investigation of 2DoF PID Controller for Physio-Therapeutic Application for Elbow Rehabilitation,” Applied Sciences (Switzerland), vol. 11, no. 18, Sep. 2021, doi: 10.3390/app11188617.

G. al Rezage and M. O. Tokhi, “Fuzzy PID Control of Lower Limb Exoskeleton for Elderly Mobility,” in IEEE International Conference on Automation Quality and Testing, Robotics, Cluj-Napoca, Romania, 2016, pp. 1–6.

D. A. Winter, Biomechanics and Motor Control of Human Movement. Wiley, 2009.

Q. Sun, C. Du, Y. Duan, H. Ren, and H. Li, “Design and application of adaptive PID controller based on asynchronous advantage actor–critic learning method,” Wireless Networks, vol. 27, no. 5, pp. 3537–3547, Jul. 2021, doi: 10.1007/s11276-019-02225-x.

K. C. Ebel, “Adaptive Sliding Mode Control for Aircraft Engines.” [Online]. Available: http://engagedscholarship.csuohio.edu/etdarchive.

Y. Raza, S. F. Ahmed, A. Ali, M. K. Joyo, and K. A. Kadir, “Optimization of PID using PSO for Upper Limb Rehabilitation Robot,” Jan. 2019. doi: 10.1109/ICETAS.2018.8629100.

K. Latha, V. Rajinikanth, and P. M. Surekha, “PSO-Based PID Controller Design for a Class of Stable and Unstable Systems,” ISRN Artificial Intelligence, pp. 1–11, May 2013, doi: 10.1155/2013/543607.

R. Pahlavi, M. A. Murti, and E. Susan, “The Implementation of PID Using Particle Swarm Optimization Algorithm on Networked Control System,” in International Conference on Industrial Automation, Information and Communications Technology (IAICT 2014) : proceeding : IAICT : 28th - 30th August 2014, Bali, Indonesia, 2014, p. 144.

Downloads

Published

2022-04-01

How to Cite

Sabah, N., Hameed , E. ., & AL-Huseiny , M. S. . (2022). Design of Adaptive PID Controller for Lower Limb Rehabilitation Robot Based on Particle Swarm Optimization Algorithm. Wasit Journal of Engineering Sciences, 10(1), 11–19. https://doi.org/10.31185/ejuow.Vol10.Iss1.241