An improved adaptive controller with parameter optimization by GA for an omni-directional walker

Renpeng Tan; Kenji Ishida; Shuoyu Wang; Yinlai Jiang; Yo Kobayashi; Masakatsu G. Fujie

doi:10.1109/SCIS-ISIS.2012.6505360

An improved adaptive controller with parameter optimization by GA for an omni-directional walker

Renpeng Tan, Kenji Ishida, Shuoyu Wang, Yinlai Jiang, Yo Kobayashi, Masakatsu G. Fujie

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

An omni-directional walker (ODW) has been developed for walking rehabilitation for people with walking disabilities. In re habilitation, a user needs to accurately follow the reference path stored in the ODW in order to obtain good training effect. In order to improve the path tracking accuracy, a nonlinear adaptive controller was developed in pervious studies, to deal with load change and center of gravity shift caused by the user. The path tracking accuracy can be improved by adjust the parameter of the adaptive controller. In this paper, genetic algorithm is used to automatically and quickly optimize the parameters of adaptive controller. Simulation was conducted, in which the ODW was controlled to follow a linear path. The results were shown that the parameter optimization strategy is effective to quickly find the optimal parameter.

Original language	English
Title of host publication	6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages	1211-1214
Number of pages	4
DOIs	https://doi.org/10.1109/SCIS-ISIS.2012.6505360
Publication status	Published - 2012
Event	2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe Duration: 2012 Nov 20 → 2012 Nov 24

Other

Other	2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
City	Kobe
Period	12/11/20 → 12/11/24

Keywords

genetic algorithm
omni-directional walker (ODW)
parameter optimization
walker

ASJC Scopus subject areas

Artificial Intelligence
Software

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10.1109/SCIS-ISIS.2012.6505360

Cite this

Tan, R., Ishida, K., Wang, S., Jiang, Y., Kobayashi, Y., & Fujie, M. G. (2012). An improved adaptive controller with parameter optimization by GA for an omni-directional walker. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 (pp. 1211-1214). Article 6505360 https://doi.org/10.1109/SCIS-ISIS.2012.6505360

An improved adaptive controller with parameter optimization by GA for an omni-directional walker. / Tan, Renpeng; Ishida, Kenji; Wang, Shuoyu et al.
6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 1211-1214 6505360.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tan, R, Ishida, K, Wang, S, Jiang, Y, Kobayashi, Y & Fujie, MG 2012, An improved adaptive controller with parameter optimization by GA for an omni-directional walker. in 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012., 6505360, pp. 1211-1214, 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012, Kobe, 12/11/20. https://doi.org/10.1109/SCIS-ISIS.2012.6505360

Tan R, Ishida K, Wang S, Jiang Y, Kobayashi Y, Fujie MG. An improved adaptive controller with parameter optimization by GA for an omni-directional walker. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 1211-1214. 6505360 doi: 10.1109/SCIS-ISIS.2012.6505360

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An improved adaptive controller with parameter optimization by GA for an omni-directional walker

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Keywords

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