A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton
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Publication:2335472
Abstract: This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of the structure, a Lyapunov-based back-stepping regulator including adaptive estimation of uncertain parameters and friction force is designed for the leg dynamics, to minimize the deviation of the joint position and its reference value. At the lower layer, a Lyapunov-based neural network adaptive controller is in charge of computing control action for the hydraulic servo system, to follow the force reference computed at the high level, also to compensate for model uncertainty, nonlinearity, and control saturation. The proposed approach shows to be capable in minimizing the interaction torque between machine and human, and suitable for possible imprecise models. The robustness of the closed-loop system is discussed under input constraint. Simulation experiments are reported, which shows that the proposed scheme is effective in imposing smaller interaction torque with respect to PD controller, and in control of models with uncertainty and nonlinearity.
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Cited in
(16)- Sensorless control for joint drive unit of lower extremity exoskeleton with cascade feedback observer
- Command filter backstepping sliding model control for lower-limb exoskeleton
- Human-exoskeleton coupling dynamics in the swing of lower limb
- Adaptive neural network-based saturated control of robotic exoskeletons
- That which does not stabilize, will only make us stronger
- Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses
- Adaptive second-order sliding-mode controller for shank-foot orthosis system
- scientific article; zbMATH DE number 7108592 (Why is no real title available?)
- L₁ adaptive control of a lower limb exoskeleton dedicated to kids' rehabilitation
- Active torque-based gait adjustment multi-level control strategy for lower limb patient-exoskeleton coupling system in rehabilitation training
- Hierarchical critic learning optimal control for lower limb exoskeleton robots with prescribed constraints
- Impedance control based on optimal adaptive high order super twisting sliding mode for a 7-DOF lower limb exoskeleton
- Novel neuromuscular controller application method to improve the balance recovery ability of lower limb exoskeletons
- Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints
- Model-free prescribed performance fixed-time control for wearable exoskeletons
- Robust control of a knee robotic exoskeleton under movement constraints: an LMI-based design approach
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