Fuzzy cerebellar model articulation controller-based adaptive tracking control for load-carrying exoskeleton

被引：1

作者：

Wu, Han ^{[1
]}

Lang, Lin ^{[2
]}

An, Honglei ^{[1
]}

Wei, Qing ^{[1
]}

Ma, Hongxu ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Intelligence Sci & Technol, Robot Res Ctr, Changsha, Peoples R China

[2] Hunan Univ Finance & Econ, Changsha 410205, Peoples R China

来源：

MEASUREMENT & CONTROL | 2020年 / 53卷 / 7-8期

基金：

国家重点研发计划;

关键词：

Load-carrying exoskeleton; fuzzy cerebellar model articulation controller; adaptive tracking control; load variation; LOWER-EXTREMITY EXOSKELETON; LIMB EXOSKELETON; DESIGN;

D O I：

10.1177/0020294020944962

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Load-carrying exoskeletons need to cope with load variations, outside disturbances, and other uncertainties. This paper proposes an adaptive trajectory tracking control scheme for the load-carrying exoskeleton. The method is mainly composed of a computed torque controller and a fuzzy cerebellar model articulation controller. The fuzzy cerebellar model articulation controller is used to approximate model inaccuracies and load variations, and the computed torque controller deals with tracking errors. Simulations of an exoskeleton in squatting movements with model parameter changes and load variations are carried out, respectively. The results show a precise tracking response and high uncertainties toleration of the proposed method.

引用

页码：1472 / 1481

页数：10

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