کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

A Centralized Adaptive PID Control of Telerehabilitation Systems Using Multi-Agent Systems Theory

نویسندگان :

Mohammadreza Sheykh¹ Heidar Ali ُTalebi² Iman Sharifi³

1- دانشگاه صنعتی امیرکبیر (پلی تکنیک) 2- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران) 3- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)

کلمات کلیدی :

Nonlinear systems

چکیده :

This paper presents an adaptive PID control scheme for telerehabilitation systems, utilizing the theory of multi-agent systems. This control scheme consists of a PID term with which better synchronization for the position of telerehabilitation system operators is achieved. The structure of the proposed controller includes two adjustment matrices: a Laplacian matrix and a force adjustment matrix. The Laplacian matrix demonstrates how agents communicate to reach the desired position, while the force adjustment matrix illustrates the force each operator feels in their hands, caused by other operators' hands applied force. Considering that in this control scheme, telerehabilitation systems are considered in the framework of multi-agent systems, it can be said that considering the self-intelligence between the agents and the communication graph between them, the separate design of the controller for each agent has been avoided. Also, with the appropriate choice of adjustment matrices, various rehabilitation scenarios can be effectively implemented.