Adaptive Particle Swarm Optimization of PID Gain Tuning for Lower-Limb Human Exoskeleton in Virtual Environment

Mohammad Soleimani Amiri, Rizauddin Ramli, Mohd Faisal Ibrahim, Dzuraidah Abd Wahab and Norazam Aliman
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Mohammad Soleimani Amiri: Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor 43600, Malaysia
Rizauddin Ramli: Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor 43600, Malaysia
Mohd Faisal Ibrahim: Department of Electrical, Electronic and Systems Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor 43600, Malaysia
Dzuraidah Abd Wahab: Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor 43600, Malaysia
Norazam Aliman: Mechanical Engineering Department, Politeknik Sultan Azlan Shah, Perak, Behrang 35950, Malaysia

Mathematics, 2020, vol. 8, issue 11, 1-16

Abstract: Tuning of a proportional-integral-derivative (PID) controller for a complex multi-joint structure, such as an exoskeleton, using conventional methods is difficult and imprecise. In this paper, an optimal PID tuning method for a 3-dimensional model of a lower-limb human exoskeleton in gait training condition is presented. The dynamic equation of the human-exoskeleton is determined using a Lagrangian approach, and its transfer function is established in a closed-loop control system. PID controller gains, initialized by the Ziegler–Nichols (Z-N) method, are used as the input to an adaptive particle swarm optimization (APSO) algorithm for minimizing the multi-joint trajectory error. The optimized controller is tested in the Gazebo virtual environment and compared with the Z-N and conventional optimization methods. The numerical analysis shows that the PID controller tuned by a combination of Z-N and APSO improves the performance of a lower-limb human exoskeleton in gait training.

Keywords: exoskeleton; proportional-integral-derivative; particle swarm optimization; optimization; optimal control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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