外骨骼
控制理论(社会学)
滑模控制
控制器(灌溉)
李雅普诺夫函数
可穿戴计算机
工程类
计算机科学
模拟
非线性系统
控制(管理)
人工智能
嵌入式系统
物理
生物
量子力学
农学
作者
Jingyan Sun,Jie Wang,Yang Peng,Shijie Guo
出处
期刊:IEEE Transactions on Industrial Informatics
[Institute of Electrical and Electronics Engineers]
日期:2023-07-01
卷期号:19 (7): 8274-8284
被引量:4
标识
DOI:10.1109/tii.2022.3215197
摘要
Wearable exoskeletons can help people with spinal cord injuries regain mobility. For the control of wearable exoskeletons, transient performance, and steady-state performance are the important indices to be considered. In this article, a model-free fractional-order prescribed performance sliding-mode control scheme is proposed for the joint angle tracking control. Time-delay control is developed based on the ultralocal model of the wearable exoskeleton to form the model-free feature. Afterward, a novel exponential-type barrier Lyapunov function is de ed to ensure the prescribed transient performance on the tracking errors. Then, a fractional-order sliding-mode surface is introduced, based on the exponential-type barrier Lyapunov function and fractional-order sliding-mode surface, a fixed-time sliding-mode controller is designed to further enhance the control performance. Benefiting from the abovementioned methods, the proposed controller is model-free and has fixed-time convergence with the prescribed performance. In addition, the adjustable range of the parameters is enlarged by the fractional-order sliding-mode surface. Stability is analyzed based on the Lyapunov theory. Finally, experiments are implemented in the wearable exoskeleton experimental platform, experiment results demonstrate the effectiveness of the proposed scheme.
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