Browsing by Author "Analia, Riska"

Now showing 1 - 2 of 2

Design of Assistive Torque for a Lower Limb Exoskeleton Based on Motion Prediction
(2016)
Susanto
;
Analia, Riska
;
Song, Kai-Tai
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a method to generate assistive torque to a lower limb exoskeleton using a predictive approach. A control scheme is proposed to predict the suitable force of next movement of legs using gait information. By using human walking gait cycle and Center of Pressure (CoP), it is expected that the exoskeleton can provide an assistive force to people and help them to walk normally. In order to predict the next movement for assistive torque given by exoskeleton to the human, a predictive Artificial Neural Network (pANN) is developed. A prototype lower limb exoskeleton has been designed and constructed for experimental study. The controller is implemented by using LabVIEW programming. The experimental results verified that the proposed controller can provide proper assistive torques to hip and knee joints for both legs while wearing the exoskeleton.
Fuzzy plus PID Attitude Control of a Co-Axial Octocopter
(2016)
Analia, Riska
;
Susanto
;
Song, Kai-Tai
;
電控工程研究所
;
Institute of Electrical and Control Engineering
The study of Unmanned Aerial Vehicles (UAVs) has grown fast recently, and various applications have been developed. This paper presents a design and implementation of attitude control of a co-axial octocopter (CAO). The dynamic model of a CAO is obtained from making the configuration similar to a quadcopter. In order to stabilize the attitude control of CAO, we propose a Fuzzy+ PID design of the attitude controller. Both computer simulation and real-time experiments have been carried out by using LabVIEW programming. In the simulation, we investigated the performance of the proposed Fuzzy+ PID controller and tuned the controller parameters. NI-MyRio has been chosen to implement the controller onboard the octocopter. The practical experiments show that the proposed Fuzzy+ PID controllers can handle the disturbances during flying and have certain robustness against the environmental conditions. The experimental results validate the simulations and verify the effectiveness of the developed controller.