Adaptive control for one-DOF finger rehabilitation robot

This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in...

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Main Author:	Jainal Abidin, Nurul Aqilah
Format:	Thesis
Language:	English English English
Published:	2019
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf
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id	my-uthm-ep.629
record_format	uketd_dc
spelling	my-uthm-ep.6292021-08-11T05:02:41Z Adaptive control for one-DOF finger rehabilitation robot 2019-01 Jainal Abidin, Nurul Aqilah TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in controller system is proportional–integral–derivative controller (PID controller). However, the limitation of the PID controller is unable to adapt the variations in the load, as handgrip stiffness can be varied from patient to patient and PID controller is needed to tune for each stiffness. The performance of the robot will be affected and the steady state error occurred when the unknown and inaccessible load torque is imposed. Therefore, in this project, a Model Reference Adaptive Control (MRAC) is proposed to design a stable controller that able to cope with the variations handgrip stiffness to reduce the positioning error and steady state error. The simulated result show that the designed adaptive controller provides good response with reduced settling time and without steady state error for entire range of handgrip stiffness. The MRAC controller will perform better for rehabilitation robot that able to cope with patients without the aid of any additional stiffness detection sensors. 2019-01 Thesis http://eprints.uthm.edu.my/629/ http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf text en public http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf text en validuser http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf text en staffonly 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	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Jainal Abidin, Nurul Aqilah Adaptive control for one-DOF finger rehabilitation robot
description	This project presents one of an adaptive control technique to control the DC motor for one-DOF (Degree of Freedom) finger rehabilitation robot. Many different types of controllers are used to provide accurate positioning of the of the DC motor for the rehabilitation robot. One of the common used in controller system is proportional–integral–derivative controller (PID controller). However, the limitation of the PID controller is unable to adapt the variations in the load, as handgrip stiffness can be varied from patient to patient and PID controller is needed to tune for each stiffness. The performance of the robot will be affected and the steady state error occurred when the unknown and inaccessible load torque is imposed. Therefore, in this project, a Model Reference Adaptive Control (MRAC) is proposed to design a stable controller that able to cope with the variations handgrip stiffness to reduce the positioning error and steady state error. The simulated result show that the designed adaptive controller provides good response with reduced settling time and without steady state error for entire range of handgrip stiffness. The MRAC controller will perform better for rehabilitation robot that able to cope with patients without the aid of any additional stiffness detection sensors.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Jainal Abidin, Nurul Aqilah
author_facet	Jainal Abidin, Nurul Aqilah
author_sort	Jainal Abidin, Nurul Aqilah
title	Adaptive control for one-DOF finger rehabilitation robot
title_short	Adaptive control for one-DOF finger rehabilitation robot
title_full	Adaptive control for one-DOF finger rehabilitation robot
title_fullStr	Adaptive control for one-DOF finger rehabilitation robot
title_full_unstemmed	Adaptive control for one-DOF finger rehabilitation robot
title_sort	adaptive control for one-dof finger rehabilitation robot
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2019
url	http://eprints.uthm.edu.my/629/1/24p%20NURUL%20AQILAH%20JAINAL%20ABIDIN.pdf http://eprints.uthm.edu.my/629/2/NURUL%20AQILAH%20%20JAINAL%20ABIDIN%20WATERMARK.pdf http://eprints.uthm.edu.my/629/3/NURUL%20AQILAH%20JAINAL%20ABIDIN%20COPYRIGHT%20DECLARATION.pdf
_version_	1747830650023444480

Adaptive control for one-DOF finger rehabilitation robot

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