Using Genetic Algorithm for Tuning the Control System of Exoskeleton Robot
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Abstract
The increase in lower-limb impaired patients prompt the increased interests in lower extremities exoskeleton. To allow these exoskeletons to assist in walking, the control system need to be able to move both hip and knee joint to their position during walking. Due to its ease of use and reliability, PID controller has been use in many robots. The performance of a PID controller is highly dependent on adjusting the gain value of the three controllers within PID controller, and the more commonly use method of PID tuning became more difficult and lack precision in a more complex robot. Thus, algorithm-based tuning, such as Genetic Algorithm, has been studied to assist in PID tuning. In this research, we proposed using Genetic Algorithm for tuning the PID controller of a lower limb exoskeleton. The mathematical model of each link of the exoskeleton, calculated from a pendulum model, are used to simulate the close-loop control system of the exoskeleton. Genetic Algorithm is used to tune the PID controller. The optimized control system is simulated with MATLAB Simulink, the result of which is compared to a PID controller tuned by Ziegler-Nichols method. The result show that the control system tuned by Genetic Algorithm has better performance than the control system tuned by Ziegler-Nichols method.
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References
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