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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/94539

    Title: Tracking control for lower-limb rehabilitation system using takagi-sugeno cerebellar model articulation control
    Other Titles: 運用T-S模糊小腦位置追蹤在下肢復健系統
    Authors: 陳柏宏;Chen, Po-Honh
    Contributors: 淡江大學電機工程學系碩士班
    劉寅春;Liu, Peter
    Keywords: 追蹤;T-S模糊;線性矩陣不等式;小腦模型控制器;復健;Tracking;T-S fuzzy;LMI;CMAC;Rehabilitation
    Date: 2013
    Issue Date: 2014-01-23 14:45:04 (UTC+8)
    Abstract: 近年來,技術性輔助運用在功能性復健器材受到非常大的關注,許多類型的復健器材之設計被相繼的提出,並運用各種控制器加以實現。在本篇論文中,我們使用一個名為T-S小腦模糊控制器的方法,用來對於我們的下肢復健系統進行追蹤控制。而我們提出的控制架構有兩個部分,第一個部份是追蹤產生器,第二個部分T-S小腦模糊控制器。在模擬的結果中,我們的系統表現出良好的追蹤性能。
    In recent year, Technical assistance to functional rehabilitation device has attracted great interest. Many kind of rehabilitation device have been designed and implemen-tation by varied control theorem. In this study, we introduce an adaptive Tak-agi-Sugeno cerebellar model articulation control (T-S CMAC) for tracking control of lower-limb rehabilitation system. The proposed control structure is based on two parts. The first part is trajectory generator, and second part is T-S CMAC controller. In the simulation results, the tracking performance can be proved.
    Appears in Collections:[電機工程學系暨研究所] 學位論文

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