Model reference adaptive control for one dof hand rehabilitation robot

This project presents one type of adaptive control technique to control the position of Direct Current (DC) motor for one-DOF rehabilitation robot. A DC motor is generally act as actuator in one-DOF rehabilitation robot and usually the robots are developed without gearing or reducer to make them dri...

Full description

Saved in:
Bibliographic Details
Main Author: Mazlan, Nur Syahirah
Format: Thesis
Language:English
English
English
Published: 2020
Subjects:
Online Access:http://eprints.uthm.edu.my/407/1/24p%20NUR%20SYAHIRAH%20MAZLAN.pdf
http://eprints.uthm.edu.my/407/2/NUR%20SYAHIRAH%20MAZLAN%20COPYRIGHT%20DECLARATION.pdf
http://eprints.uthm.edu.my/407/3/NUR%20SYAHIRAH%20MAZLAN%20WATERMARK.pdf
Tags: Add Tag
No Tags, Be the first to tag this record!
id my-uthm-ep.407
record_format uketd_dc
spelling my-uthm-ep.4072021-07-25T02:32:06Z Model reference adaptive control for one dof hand rehabilitation robot 2020-01 Mazlan, Nur Syahirah TJ212-225 Control engineering systems. Automatic machinery (General) This project presents one type of adaptive control technique to control the position of Direct Current (DC) motor for one-DOF rehabilitation robot. A DC motor is generally act as actuator in one-DOF rehabilitation robot and usually the robots are developed without gearing or reducer to make them drivable and can give easiness to stroke patients. Besides that, DC motor has variations in its parameters during operation and it also sensitive to disturbances, presence load and environment. Therefore, it may require an advance technique to make the DC motor position stable. Many different types of controllers were used to provide the accurate positioning of DC motor of one degree of freedom (DoF) rehabilitation robot. One of them is Proportional Integral Derivative (PID) controller. Even though PID controller is simple, stable and easy adjustment, but it not be able to adapt the variation load of stroke patient handgrip stiffness and it can only tune for each standard stiffness only. Therefore, this project will designed and develop the Model Reference Adaptive Control (MRAC) using one of adaptive mechanism that is Lyapunov Method. The MRAC with Lyapunov method is used in order to obtain good controller for position control of DC motor and able to cope with variations handgrip stiffness of stroke patients using one-DoF rehabilitation robot. Besides that, while using the MRAC there will be the uncertainties such as parameter drift and in order to cope with these uncertainties and have robust MRAC, this system required a robust modification such as sigma modification and -modification. In this project, the comparison between MRAC using Lyapunov method, MRAC with sigma modification and MRAC with - modification being examined. As conclusion, simulated results show that 90% of the sigma modification will reduce steady state error, system stable and can reduce settling time rather than using MRAC using Lyapunov method and MRAC with -modification. So, MRAC with sigma modification is the good type of MRAC for controlling the position of DC motor in one-DoF rehabilitation robot where the stroke patients can train their hand in good way. 2020-01 Thesis http://eprints.uthm.edu.my/407/ http://eprints.uthm.edu.my/407/1/24p%20NUR%20SYAHIRAH%20MAZLAN.pdf text en public http://eprints.uthm.edu.my/407/2/NUR%20SYAHIRAH%20MAZLAN%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/407/3/NUR%20SYAHIRAH%20MAZLAN%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution Universiti Tun Hussein Onn Malaysia
collection UTHM Institutional Repository
language English
English
English
topic TJ212-225 Control engineering systems
Automatic machinery (General)
spellingShingle TJ212-225 Control engineering systems
Automatic machinery (General)
Mazlan, Nur Syahirah
Model reference adaptive control for one dof hand rehabilitation robot
description This project presents one type of adaptive control technique to control the position of Direct Current (DC) motor for one-DOF rehabilitation robot. A DC motor is generally act as actuator in one-DOF rehabilitation robot and usually the robots are developed without gearing or reducer to make them drivable and can give easiness to stroke patients. Besides that, DC motor has variations in its parameters during operation and it also sensitive to disturbances, presence load and environment. Therefore, it may require an advance technique to make the DC motor position stable. Many different types of controllers were used to provide the accurate positioning of DC motor of one degree of freedom (DoF) rehabilitation robot. One of them is Proportional Integral Derivative (PID) controller. Even though PID controller is simple, stable and easy adjustment, but it not be able to adapt the variation load of stroke patient handgrip stiffness and it can only tune for each standard stiffness only. Therefore, this project will designed and develop the Model Reference Adaptive Control (MRAC) using one of adaptive mechanism that is Lyapunov Method. The MRAC with Lyapunov method is used in order to obtain good controller for position control of DC motor and able to cope with variations handgrip stiffness of stroke patients using one-DoF rehabilitation robot. Besides that, while using the MRAC there will be the uncertainties such as parameter drift and in order to cope with these uncertainties and have robust MRAC, this system required a robust modification such as sigma modification and -modification. In this project, the comparison between MRAC using Lyapunov method, MRAC with sigma modification and MRAC with - modification being examined. As conclusion, simulated results show that 90% of the sigma modification will reduce steady state error, system stable and can reduce settling time rather than using MRAC using Lyapunov method and MRAC with -modification. So, MRAC with sigma modification is the good type of MRAC for controlling the position of DC motor in one-DoF rehabilitation robot where the stroke patients can train their hand in good way.
format Thesis
qualification_name Master of Philosophy (M.Phil.)
qualification_level Master's degree
author Mazlan, Nur Syahirah
author_facet Mazlan, Nur Syahirah
author_sort Mazlan, Nur Syahirah
title Model reference adaptive control for one dof hand rehabilitation robot
title_short Model reference adaptive control for one dof hand rehabilitation robot
title_full Model reference adaptive control for one dof hand rehabilitation robot
title_fullStr Model reference adaptive control for one dof hand rehabilitation robot
title_full_unstemmed Model reference adaptive control for one dof hand rehabilitation robot
title_sort model reference adaptive control for one dof hand rehabilitation robot
granting_institution Universiti Tun Hussein Onn Malaysia
granting_department Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate 2020
url http://eprints.uthm.edu.my/407/1/24p%20NUR%20SYAHIRAH%20MAZLAN.pdf
http://eprints.uthm.edu.my/407/2/NUR%20SYAHIRAH%20MAZLAN%20COPYRIGHT%20DECLARATION.pdf
http://eprints.uthm.edu.my/407/3/NUR%20SYAHIRAH%20MAZLAN%20WATERMARK.pdf
_version_ 1747830602569089024