Direct Adaptive Fuzzy-Based Neural Network Controller for a Human-Driven Knee Joint Orthosis

被引:12
作者
Bey, Oussama [1 ]
Chemachema, Mohamed [2 ]
Amirat, Yacine [1 ]
Fried, Georges [1 ]
Mohammed, Samer [1 ]
机构
[1] Univ Paris Est Creteil UPEC, Lab Images Signals & Intelligent Syst LISSI, 120-122 Rue Paul Armangot, F-94400 Vitry Sur Seine, France
[2] Univ Constantine, Lab Signal Proc SPLab, 1 Ain El Bey Rd, Constantine 25017, Algeria
来源
2023 AMERICAN CONTROL CONFERENCE, ACC | 2023年
关键词
NONLINEAR-SYSTEMS; ESTIMATOR;
D O I
10.23919/ACC55779.2023.10155825
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a control error based direct adaptive Neural Network (NN) controller applied to a lower limb knee joint orthosis during flexion/extension movements. The proposed approach requires neither pre-knowledge of the exact human-orthosis system nonlinearities nor it's exact parameters. Unlike the available NN control approaches that rely on the tracking errors to derive the adaptive weights, our approach represent an alternative way on which we introduce the control error for online updating of the NN weights. A Fuzzy Inference System (FIS) is exploited to estimate the unknown control error. Then, the NN weights are tuned directly using back-propagation algorithm based on a quadratic criterion of the control error independently from the tracking error. In terms of stability, the tracking error has been proved to converge exponentially to an arbitrary small set despite the presence of external disturbances. Simulations are conducted to evaluate the effectiveness of the proposed control approach.
引用
收藏
页码:4677 / 4682
页数:6
相关论文
共 23 条
[1]   Stable direct adaptive neural network controller with a fuzzy estimator of the control error for a class of perturbed nonlinear systems [J].
Belarbi, K. ;
Chemachema, M. .
IET CONTROL THEORY AND APPLICATIONS, 2007, 1 (05) :1398-1404
[2]   Adaptive fuzzy fault-tolerant control using Nussbaum-type function with state-dependent actuator failures [J].
Bounemeur, Abdelhamid ;
Chemachema, Mohamed .
NEURAL COMPUTING & APPLICATIONS, 2021, 33 (01) :191-208
[3]  
Chemachema M., 2007, THESIS
[4]   Output feedback direct adaptive neural network control for uncertain SISO nonlinear systems using a fuzzy estimator of the control error [J].
Chemachema, Mohamed .
NEURAL NETWORKS, 2012, 36 :25-34
[5]   Direct adaptive neural network controller for a class of nonlinear systems based on fuzzy estimator of the control error [J].
Chemachema, Mohamed ;
Belarbi, Khaled .
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2011, 42 (07) :1165-1173
[6]   Intelligent Fractional-Order Active Fault-Tolerant Sliding Mode Controller for a Knee Joint Orthosis [J].
Delavari, Hadi ;
Jokar, Roya .
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021, 102 (02)
[7]   MULTILAYER FEEDFORWARD NETWORKS ARE UNIVERSAL APPROXIMATORS [J].
HORNIK, K ;
STINCHCOMBE, M ;
WHITE, H .
NEURAL NETWORKS, 1989, 2 (05) :359-366
[8]  
Huo W., 2020, IEEE T ROBOT, V36, DOI [10.1109/TRO.2019.2956341, DOI 10.1109/TR0.2019.2956341]
[9]   Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art [J].
Huo, Weiguang ;
Mohammed, Samer ;
Moreno, Juan C. ;
Amirat, Yacine .
IEEE SYSTEMS JOURNAL, 2016, 10 (03) :1068-1081
[10]   STOCHASTIC CHOICE OF BASIS FUNCTIONS IN ADAPTIVE FUNCTION APPROXIMATION AND THE FUNCTIONAL-LINK NET [J].
IGELNIK, B ;
PAO, YH .
IEEE TRANSACTIONS ON NEURAL NETWORKS, 1995, 6 (06) :1320-1329