Uploaded May 2018 | Updated September 2026, 1 week ago
ICRA 2018 Spotlight Video
Interactive Session Tue PM Pod F.1
Authors: Jabbariasl, Hamed; Pyo, Sanghun; Yoon, Jungwon
Title: An Intelligent Control Scheme to Facilitate Abrupt Stopping on Self-Adjustable Treadmills
Abstract:
The control problem in self-adjustable treadmills is to keep the position of the user at a reference point. The position error is the key obstacle in facilitating the abrupt stopping on self-adjustable treadmills. Another difficulty in this application is the oscillatory response of the closed-loop system. The conventional control methods utilize a high-gain observer to estimate the user velocity and exploit this information beside feedback signals to decrease the position error. Utilizing the high-gain observer, however, applies anomalous force (AF) to the user, leading to an unnatural feeling, and does not guarantee an oscillation-free response for the output. This paper aims to alleviate these problems by proposing a supervisory control scheme. First, a RISE controller is utilized for walking/running stage to compensate for slowly varying uncertainties in the system model without applying a high AF. Then, a positive-output controller is exploited for the stopping stage to guarantee the convergence of the position error without oscillation. Using the estimated intentional velocity and acceleration, a supervisory system is designed to switch between the controllers. Experimental results show the superiority of the proposed approach over the existing methods.
ICRA 2018 Spotlight Video
Interactive Session Tue PM Pod F.1
Authors: Jabbariasl, Hamed; Pyo, Sanghun; Yoon, Jungwon
Title: An Intelligent Control Scheme to Facilitate Abrupt Stopping on Self-Adjustable Treadmills
Abstract:
The control problem in self-adjustable treadmills is to keep the position of the user at a reference point. The position error is the key obstacle in facilitating the abrupt stopping on self-adjustable treadmills. Another difficulty in this application is the oscillatory response of the closed-loop system. The conventional control methods utilize a high-gain observer to estimate the user velocity and exploit this information beside feedback signals to decrease the position error. Utilizing the high-gain observer, however, applies anomalous force (AF) to the user, leading to an unnatural feeling, and does not guarantee an oscillation-free response for the output. This paper aims to alleviate these problems by proposing a supervisory control scheme. First, a RISE controller is utilized for walking/running stage to compensate for slowly varying uncertainties in the system model without applying a high AF. Then, a positive-output controller is exploited for the stopping stage to guarantee the convergence of the position error without oscillation. Using the estimated intentional velocity and acceleration, a supervisory system is designed to switch between the controllers. Experimental results show the superiority of the proposed approach over the existing methods.
