外骨骼
控制理论(社会学)
控制器(灌溉)
微分器
跟踪误差
弹道
滑模控制
自适应控制
计算机科学
工程类
控制工程
模拟
非线性系统
人工智能
控制(管理)
带宽(计算)
计算机网络
物理
天文
量子力学
农学
生物
作者
Rafael Pérez-San Lázaro,Iván Salgado,Isaac Chairez
标识
DOI:10.1016/j.isatra.2020.10.008
摘要
This study describes the design, instrumentation and control of an exoskeleton for lower limb children rehabilitation with nine degrees of freedom. Three degrees of freedom in each leg exert the movements of hip, knee and ankle in the sagittal plane, and three control the drive track system composed by a caterpillar-like robot. The control scheme presents a model free decentralized output feedback adaptive high-order sliding mode control to solve the trajectory tracking problem in each degree of freedom of the exoskeleton. A high order sliding mode differentiator estimates the unmeasured states and, by means of a dynamical state extension, it approximates the unknown dynamical model of the exoskeleton. A second-order adaptive sliding mode controller based on the super-twisting algorithm drives the exoskeleton articulations to track the proposed reference trajectories, inducing an ultimate boundedness for the tracking error. Numerical and experimental simulation results demonstrate the effect of the adaptive gain on the super-twisting control design. Such evaluations confirmed the superior tracking performance forced by the adaptive law for the controller with a smaller chattering amplitude and smaller mean tracking error.
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