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.

中文翻译：

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基于模糊小脑模型关节控制器的负重外骨骼自适应跟踪控制

承载外骨骼需要应对负载变化、外部干扰和其他不确定性。本文提出了一种用于承载外骨骼的自适应轨迹跟踪控制方案。该方法主要由计算扭矩控制器和模糊小脑模型关节控制器组成。模糊小脑模型关节控制器用于近似模型误差和负载变化，计算扭矩控制器处理跟踪误差。分别进行了外骨骼下蹲运动模型参数变化和负载变化的模拟。结果表明，所提出的方法具有精确的跟踪响应和高的不确定性容忍度。