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All Journal International Journal of Electrical and Computer Engineering Bulletin of Electrical Engineering and Informatics
Chai, Rifai
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Computer Science & IT Electrical & Electronics Engineering

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Journal : Bulletin of Electrical Engineering and Informatics

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Online PID-neural network for tracking lower limb rehabilitation exoskeleton angular position Hanifah, Ummi; Adinda, Aura; Rahmatillah, Akif; Sapuan, Imam; Ain, Khusnul; Septanto, Harry; Chai, Rifai
Bulletin of Electrical Engineering and Informatics Vol 14, No 5: October 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v14i5.9395

Abstract

Gait trajectory tracking control is an essential component of a lower limb rehabilitation exoskeleton (LLRE). Meanwhile, the proportional-integral-derivative (PID) controller remains popular for a variety of applications, including LLRE. Nonetheless, employing PID presents a significant issue, namely determining how to choose or tune the parameters. This paper addresses the LLRE’s hipknee angular position tracking system based on an online PID-NN controller, i.e., a PID controller, whose parameters are online modified by a trained neural network (NN). A proposed framework for designing the PID-NN controller is elaborated. Numerical verifications are carried out by comparing the performance of the PID-based control system, whose parameters have been tuned using Ziegler-Nichols (ZN), without and using NN. Performance comparisons involving the presence of external disturbance are also carried out. The simulation results show that the proposed PID-NN-based control system provides better performance with lower mean squared error (MSE), root mean squared error (RMSE), and mean absolute error (MAE) values.
Co-Authors Adinda, Aura Arfensia, Danny Sanjaya Fitriyatul Qulub Imam Sapuan Ittaqilah, Sayyidul Istighfar Khusnul Ain Osmalina Nur Rahma Rahmatillah, Akif Septanto, Harry Solly Aryza Sosialita, Tiara Dyah Ummi Hanifah Varyan, Richa