An improved adaptive controller with parameter optimization by GA for an omni-directional walker

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

研究成果: Conference contribution

抄録

An omni-directional walker (ODW) has been developed for walking rehabilitation for people with walking disabilities. In re habilitation, a user needs to accurately follow the reference path stored in the ODW in order to obtain good training effect. In order to improve the path tracking accuracy, a nonlinear adaptive controller was developed in pervious studies, to deal with load change and center of gravity shift caused by the user. The path tracking accuracy can be improved by adjust the parameter of the adaptive controller. In this paper, genetic algorithm is used to automatically and quickly optimize the parameters of adaptive controller. Simulation was conducted, in which the ODW was controlled to follow a linear path. The results were shown that the parameter optimization strategy is effective to quickly find the optimal parameter.

本文言語English
ホスト出版物のタイトル6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
ページ1211-1214
ページ数4
DOI
出版ステータスPublished - 2012
イベント2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe
継続期間: 2012 11 202012 11 24

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CityKobe
Period12/11/2012/11/24

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

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