稳健性(进化)
外骨骼
控制理论(社会学)
计算机科学
自适应控制
扭矩
Lyapunov稳定性
鲁棒控制
李雅普诺夫函数
非线性系统
参数统计
控制器(灌溉)
机器人
工程类
控制工程
滑模控制
控制系统
模拟
数学
人工智能
控制(管理)
物理
统计
基因
电气工程
热力学
生物
量子力学
生物化学
化学
农学
作者
Mehran Torabi,Mojtaba Sharifi,Gholamreza Vossoughi
标识
DOI:10.24200/sci.2017.4512
摘要
A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide compliance for the patient during interaction with the rehabilitation robot. The stability of the proposed controller and the tracking performance of the system are proven using the Lyapunov stability theorem. To verify the effectiveness of the proposed control method, some simulations are conducted for a nonlinear lower-limb exoskeleton robot interacting with a patient leg via some braces. Based on the obtained results, the controller is able to provide a flexibility for the patient and appropriately respond to his/her non-compliant interaction torques. Moreover, the proposed controller significantly reduces the chattering of the input torques in comparison with a previous adaptive control method with a constant SMC gain, while it maintains a similar tracking performance.
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