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Robust GPI Control of a New Parallel Rehabilitation Robot of Lower Extremities
Héctor Azcaray,Andrés Blanco,Carlos García,Manuel Adam,Juan Reyes,Gerardo Guerrero,César Guzmán 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.5
In this paper, we propose a new robot for lower limbs rehabilitation by using a parallel structure. The goal of this robot is not only to produce smooth and precise motions for ankle, knee, and hip, but also to support trajectory tracking. Its parallel configuration was based on the four-bar mechanism in order to have a more stable and robust structure. For the kinematic analysis, the length of one bar was considered variable. For the dynamic analysis, the Euler-Lagrange method was used to define the equations of motion. For the robot control, the robust generalized proportional integral (GPI) controller was proposed to guarantee safe rehabilitation movements. This parallel robot not only showed good results, but also showed various movement possibilities for lower limbs rehabilitation.
Adaptive Nonlinear Control of Induction Motor
Gerardo V. Guerrero Ramírez,Luis G. Vela Valdés,Manuel Adam Medina,Carlos D. García Beltrán,Cesar A. Villanueva López 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.1
This work addresses the problem of controlling a rigid arm (one degree of freedom robot manipulator) directly driven by an induction motor. A Lyapunov-based adaptive nonlinear controller is designed. The developed controller compensates for parametric uncertainty associated with the resistance of the rotor windings and it is capable to track asymptotically a trajectory for an angular position keeping all the internal signals bounded and guarantees the asymptotical stability of the system. Simulations are presented to illustrate the performance of this controller.
Robust Nonlinear Control of AC Brushless Motor for Electric Vehicles Application
Diego Langarica-Cordoba,Gerardo V. Guerrero-Ramirez,Abraham Claudio-Sanchez,Miguel A. Duran-Fonseca,Manuel Adam-Medina,Carlos-Manuel Astorga-Zaragoza 전력전자학회 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.4
This article proposes a robust nonlinear control based on Lyapunov’s redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.
Robust Nonlinear Control of AC Brushless Motor for Electric Vehicles Application
Langarica-Cordoba, Diego,Guerrero-Ramirez, Gerardo V.,Claudio-Sanchez, Abraham,Duran-Fonseca, Miguel A.,Adam-Medina, Manuel,Astorga-Zaragoza, Carlos-Manuel The Korean Institute of Power Electronics 2011 JOURNAL OF POWER ELECTRONICS Vol.11 No.4
This article proposes a robust nonlinear control based on Lyapunov's redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.
Lessard, Christopher J.,Adrianto, Indra,Kelly, Jennifer A.,Kaufman, Kenneth M.,Grundahl, Kiely M.,Adler, Adam,Williams, Adrienne H.,Gallant, Caroline J.,Anaya, Juan-Manuel,Bae, Sang-Cheol,Boackle, Sus Elsevier 2011 American journal of human genetics Vol.88 No.1
<P>Systemic lupus erythematosus (SLE) is considered to be the prototypic autoimmune disease, with a complex genetic architecture influenced by environmental factors. We sought to replicate a putative association at 11p13 not yet exceeding genome-wide significance (p < 5 × 10<SUP>−8</SUP>) identified in a genome-wide association study (GWAS). Our GWA scan identified two intergenic SNPs located between <I>PDHX</I> and <I>CD44</I> showing suggestive evidence of association with SLE in cases of European descent (rs2732552, p = 0.004, odds ratio [OR] = 0.78; rs387619, p = 0.003, OR = 0.78). The replication cohort consisted of >15,000 subjects, including 3562 SLE cases and 3491 controls of European ancestry, 1527 cases and 1811 controls of African American (AA) descent, and 1265 cases and 1260 controls of Asian origin. We observed robust association at both rs2732552 (p = 9.03 × 10<SUP>−8</SUP>, OR = 0.83) and rs387619 (p = 7.7 × 10<SUP>−7</SUP>, OR = 0.83) in the European samples with p<SUB>meta</SUB> = 1.82 × 10<SUP>−9</SUP> for rs2732552. The AA and Asian SLE cases also demonstrated association at rs2732552 (p = 5 × 10<SUP>−3</SUP>, OR = 0.81 and p = 4.3 × 10<SUP>−4</SUP>, OR = 0.80, respectively). A meta-analysis of rs2732552 for all racial and ethnic groups studied produced p<SUB>meta</SUB> = 2.36 × 10<SUP>−13</SUP>. This locus contains multiple regulatory sites that could potentially affect expression and functions of <I>CD44</I>, a cell-surface glycoprotein influencing immunologic, inflammatory, and oncologic phenotypes, or PDHX, a subunit of the pyruvate dehydrogenase complex.</P>