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Model-free fractional-order adaptive back-stepping prescribed performance control for wearable exoskeletons

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Abstract

In this paper, we present a novel model-free fractional-order adaptive back-stepping control scheme for the wearable exoskeletons with constraints on the joint angle tracking errors. Firstly, the ultra-local model based intelligent proportion integration differentiation (iPID) control is combined with time delay estimation (TDE) to realize a model-free feature, and the precise modeling process can be abandoned. Then, an adaptive back-stepping controller is introduced to handle with the estimation errors of TDE. Control behavior is greatly improved by introducing the fractional-order calculus and prescribed performance is guaranteed by the log-type barrier Lyapunov function implemented in the back-stepping approach. In addition, system stability is verified via Lyapunov stability theory. Finally, to demonstrate the effectiveness of the proposed control scheme, a 5 DOF wearable exoskeleton virtual prototype is designed in SolidWorks and transferred to MATLAB as the controlled plant for visualization simulation. Simulation results show the improved performance between the proposed method and comparison methods.

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Acknowledgements

This study was funded by National Natural Science Foundation of China (Grant numbers 61703134, 62003124 and 61703135), Natural Science Foundation of Tianjin City (Grant number 17JCQNJC04400), Natural Science Foundation of Hebei ProvinceNatural Science Foundation of Hebei Province (Grant numbers F2019202369, F2018202279, F2019202363), Youth Foundation of Hebei Educational Committee (Grant number QN2018140), Graduate Innovation Foundation of Hebei Province (Grant number No.220056) and Key R&D Program of Hebei Province (Grant number 20310802D).

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  1. Hebei University of Technology, Tianjin, China

    Jianjun Sun, Jie Wang, Peng Yang & Yanli Geng

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  1. Jianjun Sun
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  2. Jie Wang
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  3. Peng Yang
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  4. Yanli Geng
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Correspondence to Jie Wang.

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Appendix

Appendix

See Tables 3, 4, 5, 6 and 7.

Table 3 Parameters of qd1
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Table 4 Parameters of qd2
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Table 5 Parameters of qd3
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Table 6 Parameters of qd4
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Table 7 Parameters of qd5
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Sun, J., Wang, J., Yang, P. et al. Model-free fractional-order adaptive back-stepping prescribed performance control for wearable exoskeletons. Int J Intell Robot Appl 5, 590–605 (2021). https://doi.org/10.1007/s41315-021-00166-3

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