Application of iterative feedback tuning (IFT) to speed and position control of a servo drive

Kissling, Simon; Blanc, P.; Myszkorowski, P.; Vaclavik, Ivan

doi:10.1016/j.conengprac.2009.02.005

Cited by 46 publications

(19 citation statements)

References 16 publications

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“…(20) proposes a normalised design criterion, where a normalising factor is introduced, and replaces to be the weighting factor that remains meaningful. (20) where the normalising coefficient is determined by:…”

Section: B Normalised Design Criterion For Iftmentioning

confidence: 99%

“…This allows the system to be highly robust to uncertainties [16,17]. There have been some interesting cases for the application of IFT in various industrial fields, such as DC-servo control, robotic arm and mass spring system, etc., due to its superior model-free automatic tuning capacity [17][18][19][20][21]. However, the use of iterative feedback learning control in rehabilitation has not been well-explored [22].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Meng

Xie

Quan

et al. 2017

IEEE/ASME Trans. Mechatron.

113

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Abstract-Robot-assisted rehabilitation offers benefits such as repetitive, intensive and task specific training as compared to traditional manual manipulation performed by physiotherapists. In this paper, a robust iterative feedback tuning (IFT) technique for repetitive training control of a compliant parallel ankle rehabilitation robot is presented. The robot employs four parallel intrinsically compliant pneumatic muscle actuators that mimic skeletal muscles for ankle's motion training. A multiple degreesof-freedom normalised IFT technique is proposed to increase the controller robustness by obtaining an optimal value for the weighting factor and offering a method with learning capacity to achieve an optimum of the controller parameters. Experiments with human participants were conducted to investigate the robustness as well as to validate the performance of the proposed IFT technique. Results show that the normalised IFT scheme will achieve a better and better tracking performance during the robot repetitive control and provides more robustness to the system by adapting to various situations in robotic rehabilitation.

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Section: B Normalised Design Criterion For Iftmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Meng

Xie

Quan

et al. 2017

IEEE/ASME Trans. Mechatron.

113

View full text Add to dashboard Cite

show abstract

“…There are many IFT practical experiences reported in the already mentioned papers, which includes the its succesful use at important chemical installations. In addition, the following references offer a incomplete account of the range of applications attempted with with the discussed tuning method: Hamamoto et al (2003), Mazaeda and Prada (2000), Kissling et al (2009), Graham et al (2007), Tay et al (2006) and McDaid et al (2010).…”

Section: The Iterative Feedback Tunig Algorithmmentioning

confidence: 99%

IFTtune: a PID automatic tuning software tool

Mazaeda

Prada

2012

IFAC Proceedings Volumes

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“…The need for faster gradient approximations together with the local convergence in ITF for MIMO processes are analyzed in [14]. Recently reported IFT applications to industrial control problems deal with chemical servo drives [15], [16], and chemical processes [17].…”

Section: Introductionmentioning

confidence: 99%