This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a use...
详细信息
This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.
This paper offers a design procedure for a robust pole-placement problem with H-infinity objective via dynamic output feedback control for a class of uncertain fuzzy systems. Takagi-Sugeno (T-S) fuzzy system is used f...
详细信息
This paper offers a design procedure for a robust pole-placement problem with H-infinity objective via dynamic output feedback control for a class of uncertain fuzzy systems. Takagi-Sugeno (T-S) fuzzy system is used for modeling, and dynamic parallel distributed compensation (DPDC) technique is employed in the controller design. Solutions to the problems are derived in terms of a family of linear matrix inequalities (LMIs), and uncertainties are directly considered in the conditions that determine the controller. Effectiveness of the proposed design technique is illustrated by simulation for an inverted pendulum system. (C) 2008 Published by Elsevier B.V.
暂无评论