期刊文献+

模型不确定的下肢康复机器人轨迹跟踪自适应控制 被引量:21

Trajectory tracking adaptive control of the lower limb rehabilitation robot with model uncertainty
下载PDF
导出
摘要 为了实现康复训练过程中高精度的轨迹跟踪控制,针对下肢康复机器人的模型参数和外界干扰等不确定性因素对其轨迹跟踪造成严重影响,提出一种模型不确定的下肢康复机器人轨迹跟踪自适应控制方法。根据所提方案,设计了相应的轨迹跟踪自适应控制器;并进行了轨迹跟踪控制仿真实验对比分析,结果表明,计算力矩控制方法在系统模型不确定时,膝关节的最大角度跟踪误差高达11.3°,髋关节最大稳态误差4.6°;而轨迹跟踪自适应控制方法在模型不确定的情况下,髋关节和膝关节的角度跟踪稳态误差均收敛于零;轨迹跟踪自适应控制方法可以显著提高下肢康复机器人轨迹跟踪的精度。 The dynamic modeling error of the lower limb rehabilitation robot caused by robot's model-parameter uncertainty and external disturbancecan affect the performance of trajectory tracking. In order to achieve the aim of high-precision trajectory tracking control for the lower limb rehabilitation robot during gait rehabilitation, a trajectory tracking adaptive control method in the case of model uncertainty for the lower limb rehabilitation robot was proposed. According to the scheme proposed in this paper,the trajectory tracking adaptive controller of the lower limb rehabilitation robot was designed. Besides,the trajectory tracking control simulation experiment for the proposed algorithm was conducted and analyzed. The simulation results show thatthe computed torque controlmethod under the system model uncertain circumstance,the maximum angle tracking error of knee joint up to 11. 3 degree,the maximum steady-state error of hip joint is 4. 6 degree; while trajectory tracking adaptive control method in the case of model uncertainty,the hip and knee joint angle tracking steady-state error converges to zero. Thus thetrajectory tracking adaptive control methodcan significantly improve the trajectory tracking accuracy for lower limb rehabilitation robot.
出处 《电子测量与仪器学报》 CSCD 北大核心 2016年第11期1750-1757,共8页 Journal of Electronic Measurement and Instrumentation
基金 国家高技术研究发展计划863(2015AA042301)资助项目
关键词 步态轨迹跟踪控制 自适应控制 下肢康复机器人 计算力矩控制 模型不确定 gait trajectory tracking control adaptive control lower limb rehabilitation robot computed torque control model uncertainty
  • 相关文献

参考文献7

二级参考文献64

  • 1李万莉,陈熙巍,茹兰.基于SimMechanics的4自由度机器人的轨迹规划和仿真系统设计[J].中国工程机械学报,2008,6(2):144-148. 被引量:14
  • 2杨元喜,任夏,许艳.自适应抗差滤波理论及应用的主要进展[J].导航定位学报,2013,1(1):9-15. 被引量:86
  • 3吴宝元,余永,许德章,吴仲城,陈峰.可穿戴式下肢助力机器人运动学分析与仿真[J].机械科学与技术,2007,26(2):235-240. 被引量:19
  • 4Lia W,Changa X G,Wahlb F M,et al.Tracking control of a ma-nipulator under uncertainty by Fuzzy PID controller[J].FuzzySets and Systems,2001,122:125-137. 被引量:1
  • 5Takegaki M,Arimoto S.A new feedback control of manipulator-s[J].Trans ASME J Dyn Sys Meas Control,1981,103:119-125. 被引量:1
  • 6Masahiro O,Chun Y S,Toshihiro K.State observer-based robustcontrol scheme for electrically driven robot manipulators[J].IEEE Trans on Robotics,2004,20(4):796-804. 被引量:1
  • 7Su Yuxin,Müller P C,Zheng Chunhong.A global asymptotic sta-ble output feedback PID regulator for robot manipulators[C] ∥Proceedings of IEEE International Conference on Robotics andAutomation,Roma:IEEE Press,2007:4484-4489. 被引量:1
  • 8Moreno-Valenzuela J,Santibanez V,Campa R.A class of OFTcontrollers for torque-saturated robot manipulators:Lyapunov sta-bility and experimental evaluation[J].Journal of Intelligent andRobotic Systems,2008,51:65-88. 被引量:1
  • 9Peng L,Woo Peng-Yung.Neural-fuzzy control system for roboticmanipulators[J].Control Systems Magazine,2002,22(1):53-63. 被引量:1
  • 10Yu Wen-shyong.Adaptive fuzzy PID control for nonlinear systemswith H∞tracking performance[C] ∥Proceedings of IEEE Interna-tional Conference on Fuzzy Systems,Vancouver:IEEE Press,2006:1010-1015. 被引量:1

共引文献78

同被引文献157

引证文献21

二级引证文献86

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部