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...

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Main Author:	Mazlan, Nur Syahirah
Format:	Thesis
Language:	English English English
Published:	2020
Subjects:	TJ212-225 Control engineering systems Automatic machinery (General)
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
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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

Model reference adaptive control for one dof hand rehabilitation robot

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