In order to provide the rehabilitation training for patients with impaired upper limb motor function, this article proposes an α-variable adaptive model free control (α-AMFC) for a 7-DOF upper limb exoskeleton which is denoted as iReHave and designed based on SolidWorks. The referred α-AMFC is developed based on a time-delay estimation based intelligent PID control (TDE-iPID) and an α online adaptive estimation law. The latter is integrated to enhance the performance of the TDE-iPID which is based on an ultra-local model, time-delay estimation and PID controller. Finally, to demonstrate the performance of the proposed α-AMFC on the iReHave 7-DOF upper limb exoskeleton, co-simulation results with comparisons to PID and TDE-iPID controller are given.

为了为上肢运动功能受损的患者提供康复训练，本文针对7自由度上肢外骨骼提出了一个α变量自适应模型自由控制（α-AMFC），其基于iReHave并基于SolidWorks设计。基于基于时间延迟估计的智能PID控制（TDE-iPID）和α在线自适应估计定律，开发了参考α-AMFC。后者被集成以增强TDE-iPID的性能，该性能基于超本地模型，时延估计和PID控制器。最后，为了证明所提出的α-AMFC在iReHave 7-DOF上肢外骨骼上的性能，给出了与PID和TDE-iPID控制器进行比较的共同仿真结果。