Command filter backstepping sliding model control for lower-limb exoskeleton

DOI10.1155/2017/1064535MaRDI QIDQ1992292zbMATH OpenOpenAlexFDO

Authors Peng Yang, Gaowei Zhang, Jie Wang, Xiaozhou Wang, Lili Zhang, Lingling Chen

Publication date 5 November 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/1064535

Mathematics Subject Classification ID

Variable structure systems (93B12) Fuzzy control/observation systems (93C42) Application models in control theory (93C95)

Review text

Summary: A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton. Firstly, the human-robot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg. Then, Vicon motion capture system is employed to obtain the reference trajectory. For the purpose of obviating the ``explosion of complexity in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy. The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances. Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.

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Cites work

• Adaptive command-filtered backstepping control for linear induction motor via projection algorithm
• Leader-follower fixed-time consensus of multi-agent systems with high-order integrator dynamics
• Sliding mode attitude tracking of rigid spacecraft with disturbances

Cited in

(8)

• Sensorless control for joint drive unit of lower extremity exoskeleton with cascade feedback observer
• A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton
• That which does not stabilize, will only make us stronger
• scientific article; zbMATH DE number 7266487 (Why is no real title available?)
• A robust control scheme based on sliding mode observer to drive a knee-exoskeleton
• Control of a pneumatic power active lower-limb orthosis with filter-based iterative learning control
• Impedance control based on optimal adaptive high order super twisting sliding mode for a 7-DOF lower limb exoskeleton
• Model-free prescribed performance fixed-time control for wearable exoskeletons

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