Model predictive control with angular acceleration constraint of proportional servo-hydraulic lower extremity robotic device

Lower Extremity Robotic Device (LERD) is a four-degree of freedom hydraulic exoskeleton that assists the paralysed patient to walk. The nonlinear dynamic model of the hydraulic exoskeleton system used in Model Predictive Control (MPC) is challenging to be modelled, especially in the state-space mode...

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Auteur principal:	Onn, Nurfarahin
Format:	Thèse
Langue:	anglais
Publié:	2021
Sujets:	TJ Mechanical engineering and machinery
Accès en ligne:	http://eprints.utm.my/102388/1/NurfarahinOnnPhDSKM2021.pdf.pdf