外骨骼
控制理论(社会学)
解耦(概率)
模糊控制系统
模糊逻辑
多输入多输出
非线性系统
计算机科学
控制系统
弹道
控制工程
自适应控制
工程类
控制(管理)
模拟
人工智能
物理
频道(广播)
电气工程
量子力学
计算机网络
天文
作者
Wei Sun,Jhih-Wei Lin,Shun‐Feng Su,Weining Wang,Meng Joo Er
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2021-03-01
卷期号:51 (3): 1099-1109
被引量:86
标识
DOI:10.1109/tcyb.2020.2972582
摘要
This article reports our study on a reduced adaptive fuzzy decoupling control for our lower limb exoskeleton system which typically is a multi-input-multi-output (MIMO) uncertain nonlinear system. To show the applicability and generality of the proposed control methods, a more general MIMO uncertain nonlinear system model is considered. By decoupling control, the entire MIMO system is separated into several MISO subsystems. In our experiments, such a system may have problems (even unstable) if a traditional fuzzy approximator is used to estimate the complicated coupling terms. In this article, to overcome this problem, a reduced adaptive fuzzy system together with a compensation term is proposed. Compared to traditional approaches, the proposed fuzzy control approach can reduce possible chattering phenomena and achieve better control performance. By employing the proposed control scheme to an actual 2-DOF lower limb exoskeleton rehabilitation robot system, it can be seen from the experimental results that, as expected, it has good performance to track the model trajectory of a human walking gait. Therefore, it can be concluded that the developed approach is effective for the control of a lower limb exoskeleton system.
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