کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Adaptive Control of Telerehabilitation Systems in The Framework of Multi-Agent Systems

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 :

Telerehabilitation systems

چکیده :

This paper presents an adaptive control scheme for telerehabilitation systems, utilizing the theory of multi-agent systems. The novelty of this research lies in the correspondence of telerehabilitation systems to multi-agent systems, with which a centralized adaptive controller is designed that guarantees synchronization of operators' positions. Also 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. In this control scheme, the uncertainties in the dynamics of agents have been estimated using the function approximation theory, in other words, these uncertainties are estimated according to the estimation based on the neural network or the Fourier series, and the controller design is based on these obtained estimates. In fact, by utilizing the communication graph between the agents and the centralized controller design, 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.