Adaptive control strategy with parameter optimisation for omni-directional walker

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

    Research output: Contribution to journalArticle

    1 Citation (Scopus)

    Abstract

    In order to support people with walking disabilities to perform walking rehabilitation, an omni-directional walker (ODW) has been developed. Walking training programmes are stored in the walker so that rehabilitation can be carried out without a physical therapist. During walking training the forces imposed by the user’s arms to the armrest of the ODW decreased the path tracking accuracy. In a previous study, to address the issue, an adaptive control algorithm was developed to deal with the centre of gravity shift and the load changes caused by the users. However, the control parameters in the non-linear adaptive control law were manually adjusted. In this paper, an adaptive control strategy with automatic parameter adjustment by genetic algorithm is proposed. Simulations are presented to show the feasibility and effectiveness of the proposed scheme.

    Original languageEnglish
    Pages (from-to)172-180
    Number of pages9
    JournalInternational Journal of Mechatronics and Automation
    Volume1
    Issue number3-4
    DOIs
    Publication statusPublished - 2011

    Fingerprint

    Adaptive Strategies
    Parameter Optimization
    Adaptive Control
    Control Strategy
    Rehabilitation
    Patient rehabilitation
    Path Tracking
    Centre of gravity
    Disability
    Nonlinear Control
    Adaptive Algorithm
    Control Parameter
    Control Algorithm
    Adjustment
    Gravitation
    Genetic algorithms
    Genetic Algorithm
    Simulation
    Training

    Keywords

    • adaptive control
    • automation
    • genetic algorithm
    • ODW
    • omni-directional walker
    • parameter optimisation

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Computational Mathematics
    • Computational Mechanics

    Cite this

    Adaptive control strategy with parameter optimisation for omni-directional walker. / Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G.

    In: International Journal of Mechatronics and Automation, Vol. 1, No. 3-4, 2011, p. 172-180.

    Research output: Contribution to journalArticle

    Tan, Renpeng ; Wang, Shuoyu ; Jiang, Yinlai ; Ishida, Kenji ; Fujie, Masakatsu G. / Adaptive control strategy with parameter optimisation for omni-directional walker. In: International Journal of Mechatronics and Automation. 2011 ; Vol. 1, No. 3-4. pp. 172-180.
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