外骨骼
控制理论(社会学)
李雅普诺夫函数
控制器(灌溉)
逆动力学
自适应控制
计算机科学
稳健性(进化)
数学
控制工程
工程类
非线性系统
模拟
人工智能
控制(管理)
物理
基因
生物
经典力学
量子力学
化学
生物化学
运动学
农学
作者
Jiamin Wang,Oumar Barry
出处
期刊:IEEE robotics and automation letters
日期:2021-04-01
卷期号:6 (2): 2171-2178
被引量:12
标识
DOI:10.1109/lra.2021.3061361
摘要
We propose a robust adaptive controller for the safe and accurate trajectory tracking control of upper limb rehabilitation exoskeletons. The proposed controller can adapt to the inertia and load uncertainties, and compensate for their effects. The $H_\infty$ robustness of the controller in $l_2$ perturbation/disturbance attenuation is realized by nonlinear robust control theory via inverse optimality. We mathematically prove the asymptotic stability and optimality of the controller by stabilizing a Lyapunov function and minimizing a meaningful cost function, respectively. We then demonstrate the performance of the controller with the simulations of two different exoskeleton control systems. The results show that the controller can identify and compensate for model uncertainties, and realize good tracking performance in the presence of perturbations and disturbances. These qualities are crucial to the reliability and safety of exoskeleton operations. In addition to rehabilitation exoskeletons, the proposed framework can also be applied to the control of other multibody robotic systems.
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