Control and Design of the Lower Extremities Exoskeleton Model with Uncertainty

被引：0
作者：
Chen, Jun [1 ]
Fan, Yuan [1 ]
Zhang, Chengxiao [1 ]
Sheng, Mingwei [1 ]
机构：
[1] Anhui Univ, Sch Elect Engn & Automat, Hefei 230601, Anhui, Peoples R China
来源：
ICRAI 2018: PROCEEDINGS OF 2018 4TH INTERNATIONAL CONFERENCE ON ROBOTICS AND ARTIFICIAL INTELLIGENCE - | 2018年
基金：
中国国家自然科学基金;
关键词：
Exoskeleton; uncertainty; observer; controller; LMI;
D O I：
10.1145/3297097.3297110
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Many diseases related to legs movement or walking are more and more perplexed. In order to help these people, medical science and engineering have been working together to provide solutions to improve people's quality of life. In this case, exoskeleton can improve the effect of rehabilitation according to the design of motor equipment. Based on the Lyapunov stability theory and linear matrix inequality (LMI) method, a control problem of exoskeleton model with uncertainties is studied. Firstly, consider the uncertainty of the system model and analyze it. Secondly, the state feedback controller based on the state observer is designed to ensure the stability of the system. The effectiveness of the system is verified by simulation.
引用
收藏
页码：76 / 81
页数：6
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