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

• Main Author: Onn, Nurfarahin
• Format: Thesis
• Language: English
• Published: 2021
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/102388/1/NurfarahinOnnPhDSKM2021.pdf.pdf; http://eprints.utm.my/id/eprint/102388/; http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:147311

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...