气动人工肌肉驱动的上肢外骨骼模糊间接自适应鲁棒控制

Siyuan Dan, Haoshu Cheng, Yong Zhang, Hao Liu
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引用次数: 1

摘要

气动人造肌肉(PAM)是一种柔性、高力重比的新型驱动器,广泛应用于外骨骼和仿生机器人领域。尽管有这些优点,但流量和压力的动态特性以及时变特性增加了系统的非线性,严重影响了系统的控制精度。因此,高效、高精度的控制算法成为提高PAM运动控制性能的关键。针对PAM驱动的上肢外骨骼,提出了一种新的模糊间接自适应鲁棒控制算法。该方法引入了改进的模糊径向基函数(RBF)和模糊控制逻辑与间接自适应鲁棒控制(IARC)相结合,有效地减小了控制系统的误差。将高速开关阀的流量滞后特性与气动肌肉的进排气流模型相结合,采用改进的模糊RBF对模型的不确定性和真实控制参数的偏差进行补偿,采用模糊控制逻辑对流量系数进行实时校正。为了验证该控制器的性能,将FIARC应用于上肢外骨骼肘关节的运动控制。实验结果表明,与传统方法相比,该方法对参考信号的跟踪更先进、更有效。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Fuzzy Indrect Adaptive Robust Control for Upper Extremity Exoskeleton Driven by Pneumatic Artificial Muscle
Pneumatic artificial muscle (PAM), a new type of flexible and high force-to-weight ratio actuator, is widely used in the fields of exoskeleton and bionic robot. Despite these advantages, the dynamics of the flow and pressure as well as the time-varying behavior have increased the nonlinearity of it, which affects the control accuracy of the system significantly. Therefore, high-efficiency and high-precision control algorithms have become the key to improve the motion control performance of PAM. In this paper, a new fuzzy indirect adaptive robust control algorithm (FIARC) is proposed for an upper extremity exoskeleton driven by PAM. The FIARC introduces a modified fuzzy radial basis function (RBF) and a fuzzy control logic integrated with indirect adaptive robust control (IARC) to reduce the control system error effectively. The modified fuzzy RBF is used to compensate the model uncertainty and the deviation of true control paraments, while the fuzzy control logic is used for real-time flow coefficient correction, which combines the flow hysteresis characteristics of the high speed on/off valve with the inlet and exhaust flow model of pneumatic muscle. To verify the performance of the proposed controller, the FIARC is applied to the motion control of elbow joint in the upper extremity exoskeleton. Experimental results show that the FIARC is more advanced and effective in tracking the reference signals compared with conventional method.
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