FURI | Spring 2021

Autonomous Online PID Tuning Algorithm and Implementation on a Knee Exoskeleton

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Proportional-Integral-Derivative controllers (PID) are widely used in rehabilitation robotics and the ability to tune the controllers in the presence of unmodelled nonlinearities is essential to the performance of the controller. This FURI project addresses this issue by exploring a method to intelligently tune a PID controller autonomously using a global search algorithm, adaptive particle swarm optimization. The autonomous tuning algorithm is first tested in Matlab Simulink with a nonlinear model, then it is implemented as an online tuner on a wearable knee exoskeleton.