State Feedback Control with Integral Action Applied to a Knee Rehabilitation Robot

https://doi.org/10.58571/CNCA.AMCA.2023.058

Resumen: The main objective of this paper is to describe the design of a state feedback controller with integral action based on a proportional integral observer with Takagi-Sugeno structure, for trajectory tracking of a rehabilitation routine applied to a knee rehabilitation robot. The stability analysis of the controller is addressed by Lyapunov, a constraint is applied to the controller input.

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Jiménez Gómez, Janeth; Osorio-Gordillo, Gloria-Lilia; Guadarrama Estrada, Angel Rodrigo; Guerrero-Ramírez, Gerardo; Astorga-Zaragoza, Carlos. State Feedback Control with Integral Action Applied to a Knee Rehabilitation Robot. Memorias del Congreso Nacional de Control Automático, pp. 461-466, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.058

Palabras clave

Control de Sistemas No Lineales; Robótica y Mecatrónica; Control Difuso

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