Optimization and evaluation of a proportional derivative controller for planar arm movement.
Optimization and evaluation of a proportional derivative controller for planar arm movement.
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DOI：
10.1016/j.jbiomech.2009.12.017
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发表时间：
2010-04-19
影响因子：
2.4
通讯作者：
van den Bogert, Antonie J.
中科院分区：
文献类型：
--
作者：
Jagodnik, Kathleen M.;van den Bogert, Antonie J.
在功能性电刺激（FES）的大多数临床应用中，电刺激的时间和幅度由开环模式发生器控制。然而，上肢伸展运动的控制需要反馈控制才能达到所需的精度。在这里，我们展示了三个控制器，使用比例微分 (PD) 反馈来刺激六块手臂肌肉，并使用两个关节角度传感器。首先对控制器进行优化，然后在包括肌肉骨骼动力学的计算手臂模型上进行评估。通过最小化位置误差和肌肉力量的加权和来优化反馈增益。通过执行控制器未优化的运动来评估控制器的通用性，并通过随机削弱肌肉的模型模拟来测试鲁棒性。通过增加关节摩擦力和加倍手臂质量来进一步评估鲁棒性。使用适当加权的成本函数进行优化后，所有 PD 控制器在模拟中都执行快速、准确且稳健的到达运动。调整不当后会出现振荡行为。随着反馈增益矩阵复杂性的增加，性能略有提高。
In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased.
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影响因子：
3.2
作者：
Blana, Dimitra;Kirsch, Robert F.;Chadwick, Edward K.
通讯作者：
Chadwick, Edward K.
DOI：
10.1109/tnsre.2005.858458
发表时间：
2005-12-01
影响因子：
4.9
作者：
Iftime, SD;Egsgaard, LL;Popovic, MB
通讯作者：
Popovic, MB
影响因子：
4.6
作者：
CRAGO, PE;NAKAI, RJ;CHIZECK, HJ
通讯作者：
CHIZECK, HJ
影响因子：
1.9
作者：
Izawa, J;Kondo, T;Ito, K
通讯作者：
Ito, K
影响因子：
4.6
作者：
ABBAS, JJ;CHIZECK, HJ
通讯作者：
CHIZECK, HJ