文章基本信息

标题：Tracking control of knee exoskeleton system with time-dependent inertial and viscous parameters
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作者：Zhan Li ; Ziguang Yin ; Hong Cheng 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1322-1327
DOI：10.1016/j.ifacol.2017.08.129
语种：English
出版社：Elsevier
摘要：AbstractKnee exoskeleton plays an important role in robot-assisted rehabilitation for impaired pilots to restore their motor functionality of lower extremity through producing external movement compensation. Tracking control of knee exoskeleton often encounters time-dependent (time-varying) issues reflected in its dynamic behaviors. In many applications, inertial and viscous parameters of knee exoskeletons are measured to be time-dependent due to unexpected mechanical vibrations and contact interactions, which increases difficultly of accurate control of knee exoskeleton to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-dependent (time-varying) inertial and viscous coefficients. Such controller is designed based on Zhang dynamics (ZD) method so as to make the tracking error of joint angle exponentially converge to zero. Illustrative examples are presented to show efficiency of this type of controller based on ZD method. Comparisons with gradient dynamic (GD) approach are also presented to demonstrate superiority of ZD-type control strategy for tracking joint angle of knee exoskeleton.
关键词：KeywordsExoskeletontime-dependenttracking controlZhang dynamics (ZD)gradient dynamics (GD)