控制理论(社会学)
外骨骼
控制器(灌溉)
人工神经网络
死区
自适应控制
理论(学习稳定性)
滑模控制
Lyapunov稳定性
计算机科学
非线性系统
人工智能
控制(管理)
模拟
物理
海洋学
量子力学
地质学
机器学习
农学
生物
作者
Dingxin He,Haoping Wang,Yang Tian,Yida Guo
出处
期刊:IEEE/CAA Journal of Automatica Sinica
[Institute of Electrical and Electronics Engineers]
日期:2024-03-01
卷期号:11 (3): 760-781
被引量:3
标识
DOI:10.1109/jas.2023.123882
摘要
This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for $n$ -DOF upper-limb exoskeleton in presence of uncertainties, external disturbances and input deadzone. Considering the model complexity and input deadzone, a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design. Firstly, the control gain of ultra-local model is considered as a constant. The fractional-order sliding mode technique is designed to stabilize the closed-loop system, while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance. Correspondingly, a fractional-order ultra-local model-based neural network sliding mode controller (FO-NNSMC) is proposed. Secondly, to avoid disadvantageous effect of improper gain selection on the control performance, the control gain of ultra-local model is considered as an unknown parameter. Then, the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain. Correspondingly, a fractional-order ultra-local model-based adaptive neural network sliding mode controller (FO-ANNSMC) is proposed. Moreover, the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory. Finally, with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton, the obtained compared results illustrate the effectiveness and superiority of the proposed method.
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