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International Standard Serial Number:
ISSN 1001-4551
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Zhejiang University;
Zhejiang Machinery and Electrical Group
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Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
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TANG ren-zhong,
LUO Xiang-yang
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Fuzzy PIDbased control of the walkaided exoskeleton robot
ZHONG Cuihua, SHEN Linyong, REN Zhaolin, SHAO Wenyun
(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)
Abstract: In order to realize the gait control, the fuzzy PIDbased control algorithm was proposed. Firstly, the general incremental PID control algorithm of the robot was given. Then, the membership functions were selected according to the parameters of the angle error and the variations of the error of the robot. Finally, the table of fuzzy control was established for the online autotuning of the PID parameters based on the actual operating experience. The test results show that the fuzzy PID control could make the exoskeleton robot walk steadily and finish the gait control of the robot preliminarily.
Key words: fuzzy proportionintegrationdifferentiation(PID); walkaided exoskeleton robot; gait control
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