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Adaptive robust control for lower limb rehabilitation robot with uncertainty based on Udwadia–Kalaba approach
Advanced Robotics ( IF 2 ) Pub Date : 2020-06-03 , DOI: 10.1080/01691864.2020.1774414
Feifei Qin 1 , Han Zhao 1 , Shengchao Zhen 2 , Yan Zhang 1
Affiliation  

ABSTRACT This paper aims to address the trajectory control of a lower limb rehabilitation robot which works under passive mode. Udwadia–Kalaba approach is a novel and concise method to address the control of constrained systems with holonomic and nonholonomic constraints. According to Udwadia–Kalaba approach, the fundamental equation of lower limb rehabilitation robot considering the resistance of human muscles is first obtained, then a closed-form expression of the joint control torques is obtained. In practice, it is quite difficult to meet the control target due to various uncertainties such as the initial condition deviation from the constraints, the uncertainty of model, and the external disturbance. To deal with this condition, an adaptive control on the basis of Udwadia–Kalaba approach is presented. The uniform boundedness and the uniform ultimate boundedness of the proposed control are verified by the Lyapunov method. Experiments and simulations are performed to show the simplicity, efficiency and accuracy of the proposed control. Specifically, the tracking trajectory of the robot is designed based on the data collected from the experiments. The simulation results show that the proposed control can be used in the lower limb rehabilitation robot. GRAPHICAL ABSTRACT

中文翻译:

基于Udwadia-Kalaba方法的不确定下肢康复机器人自适应鲁棒控制

摘要 本文旨在解决被动模式下工作的下肢康复机器人的轨迹控制问题。Udwadia-Kalaba 方法是一种新颖而简洁的方法,用于解决具有完整和非完整约束的约束系统的控制问题。根据Udwadia-Kalaba方法,首先得到考虑人体肌肉阻力的下肢康复机器人基本方程,然后得到关节控制力矩的闭式表达式。在实际应用中,由于初始条件偏离约束条件、模型的不确定性、外部扰动等各种不确定因素,要满足控制目标是相当困难的。为了处理这种情况,提出了一种基于 Udwadia-Kalaba 方法的自适应控制。Lyapunov 方法验证了所提出的控制的一致有界和一致最终有界。进行实验和模拟以显示所提出的控制的简单性、效率和准确性。具体而言,机器人的跟踪轨迹是根据实验收集的数据设计的。仿真结果表明,所提出的控制可用于下肢康复机器人。图形概要 仿真结果表明,所提出的控制可用于下肢康复机器人。图形概要 仿真结果表明,所提出的控制可用于下肢康复机器人。图形概要
更新日期:2020-06-03
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