The aim of this work is to evaluate the output a two-degree freedom (DOF) proportional integral derivative (PID) controller for controlling elbow flexion and extension on an upper limb rehabilitation robot existing model. Since usage increasing dramatically because human impairment, 2DOF has been proposed in as suitable controller. PID offers set-point-weight features and, hence, fast removing ...

The paper presents a new methodology of the controller design for time delay systems. The proposed method based on a polynomial approach and LQ control theory yields a class of CT controllers ensuring setpoint tracking as well as load disturbance attenuation. The 2DOF control configuration was considered. The resulting controller obtained via polynomial Diophantine equations and spectral factor...

In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carr...

In this paper a two-degree-of-freedom (2DOF) IMC structure is considered for integrating process with deadtime to achieve improved load-disturbance response along with the set-point response. Set-point controller is designed considering desired speed of response of the closed-loop system. The load-disturbance controller is designed through direct synthesis approach and both the controllers are ...

In this paper, a new tuning procedure for PI controllers in Two-Degree-of-Freedom (2DOF) structure is proposed. In design procedure, First Order plus Dead Time (FOPDT) model is used. The aim is to have good set point tracking and disturbance rejection and also maximum robustness to model uncertainties. The tuning strategy is based on using analytical rules and some conceptual rules about closed...

For the improvement of the amputee’s activity of daily living (ADL), several kinds of electromyogram (EMG) controlled prosthetic hands have been developed so far. But there is still significant difference between the movements of these hands and human ones. In this paper, we propose a direct torque control method for the prosthetic hand. In order to estimate the joint torque from EMG signals, a...

This paper designs the central finite-dimensional H1 filter for linear stochastic systems with integral-quadratically bounded deterministic disturbances, that is suboptimal for a given threshold g with respect to a modified Bolza–Meyer quadratic criterion including the attenuation control term with the opposite sign. The original H1 filtering problem for a linear stochastic system is reduced to...

In a multivariable servomechanism design, it is required that the output vector tracks a certain reference vector while satisfying some desired transient specifications, for this purpose a 2DOF control law consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed using block pole placement technique by assigning a set of desired Block poles in diffe...

This paper proposes an adaptive global asymptotic stable (adaptive GAS) control scheme for the compensation of friction and disturbance effect to control robot manipulators. This control method integrates both model reference technique and exact linearization. In addition, it employs disturbance compensating mechanics to control the system to follow a linear reference model which has pole place...

This paper presents a new evolutionary computing method for the design of robust PID controller with two degrees of freedom (2DOF PID controller). Since the objective plants have a time-delay element and parametric uncertainties, the design problem is formulated as a multi-objective minimax optimization problem. Therefore the high-performed optimization method is required. The proposed evolutio...