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Fuzzy Real-Time Multi-objective Optimization of a Prosthesis Test Robot Control System

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Advanced Control Techniques in Complex Engineering Systems: Theory and Applications

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 203))

Abstract

This paper investigates the fuzzy real-time multi-objective optimization of a combined test robot/transfemoral prosthesis system with three degrees of freedom. Impedance control parameters are optimized with respect to the two objectives of ground force and vertical hip position tracking. Control parameters are first optimized off-line with an evolutionary algorithm at various values of walking speed, surface friction, and surface stiffness. These control parameters comprise a gait library of Pareto-optimal solutions for various walking scenarios. The user-preferred Pareto point for each walking scenario can be selected either by expert decision makers or by using an automated selection mechanism, such as the point that is the minimum distance to the ideal point. Then, given a walking scenario that has not yet been optimized, a fuzzy logic system is used to interpolate in real time among control parameters. This approach enables automated real-time multi-objective optimization. Simulation results confirm the effectiveness of the proposed approach.

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Acknowledgements

The authors thank the Fulbright Scholar Program (USA) for supporting Prof. Y. P. Kondratenko with a Fulbright scholarship and for making it possible for this team to conduct research together in the USA. This research was partially supported by National Science Foundation Grant 1344954.

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Authors and Affiliations

  1. Intelligent Information Systems Department, Petro Mohyla Black Sea National University, Mykolaiv, 54003, Ukraine

    Yuriy P. Kondratenko

  2. Washkewicz College of Engineering, Cleveland State University, Cleveland, OH, 44115, USA

    Poya Khalaf, Hanz Richter & Dan Simon

Authors
  1. Yuriy P. Kondratenko
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  2. Poya Khalaf
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  3. Hanz Richter
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  4. Dan Simon
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Corresponding author

Correspondence to Yuriy P. Kondratenko .

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Editors and Affiliations

  1. Department of Intelligent Information Systems, Petro Mohyla Black Sea National University, Mykolaiv, Ukraine

    Yuriy P. Kondratenko

  2. Glushkov Cybernetics Institute of NAS of Ukraine, Kyiv, Ukraine

    Arkadii A. Chikrii

  3. Space Research Institute of NAS and SSA of Ukraine, Kyiv, Ukraine

    Vyacheslav F. Gubarev

  4. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Kondratenko, Y.P., Khalaf, P., Richter, H., Simon, D. (2019). Fuzzy Real-Time Multi-objective Optimization of a Prosthesis Test Robot Control System. In: Kondratenko, Y., Chikrii, A., Gubarev, V., Kacprzyk, J. (eds) Advanced Control Techniques in Complex Engineering Systems: Theory and Applications. Studies in Systems, Decision and Control, vol 203. Springer, Cham. https://doi.org/10.1007/978-3-030-21927-7_8

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