{"title":"基于无模型的固定时间控制,用于具有预设性能的不确定可穿戴外骨骼","authors":"","doi":"10.1016/j.conengprac.2024.106011","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, the issue of fixed-time tracking control for the uncertain wearable exoskeleton with prescribed performance is addressed. To heighten the transient and steady-state performance of the exoskeleton system, a variable exponent coefficient-based fixed-time control approach is formulated. Benefiting from model-free control, the dynamic model of the exoskeleton is replaced by an ultra-local model that relies solely on input–output (IO) data. The tracking control problem of the exoskeleton system boils down to the boundedness problem of auxiliary variables via designing a nonlinear conversion function. The tracking errors converge to the origin in a fixed time and never violate predefined constraints. The mechanical design of the wearable exoskeleton is carried out by Solidworks, and the actual control system is meticulously constructed. The simulation and experimental outcomes confirm the efficacy and superiority of the presented control methodology.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4000,"publicationDate":"2024-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Model-free based fixed-time control for the uncertain wearable exoskeleton with preset performance\",\"authors\":\"\",\"doi\":\"10.1016/j.conengprac.2024.106011\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this paper, the issue of fixed-time tracking control for the uncertain wearable exoskeleton with prescribed performance is addressed. To heighten the transient and steady-state performance of the exoskeleton system, a variable exponent coefficient-based fixed-time control approach is formulated. Benefiting from model-free control, the dynamic model of the exoskeleton is replaced by an ultra-local model that relies solely on input–output (IO) data. The tracking control problem of the exoskeleton system boils down to the boundedness problem of auxiliary variables via designing a nonlinear conversion function. The tracking errors converge to the origin in a fixed time and never violate predefined constraints. The mechanical design of the wearable exoskeleton is carried out by Solidworks, and the actual control system is meticulously constructed. The simulation and experimental outcomes confirm the efficacy and superiority of the presented control methodology.</p></div>\",\"PeriodicalId\":50615,\"journal\":{\"name\":\"Control Engineering Practice\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":5.4000,\"publicationDate\":\"2024-07-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Control Engineering Practice\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0967066124001710\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124001710","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Model-free based fixed-time control for the uncertain wearable exoskeleton with preset performance
In this paper, the issue of fixed-time tracking control for the uncertain wearable exoskeleton with prescribed performance is addressed. To heighten the transient and steady-state performance of the exoskeleton system, a variable exponent coefficient-based fixed-time control approach is formulated. Benefiting from model-free control, the dynamic model of the exoskeleton is replaced by an ultra-local model that relies solely on input–output (IO) data. The tracking control problem of the exoskeleton system boils down to the boundedness problem of auxiliary variables via designing a nonlinear conversion function. The tracking errors converge to the origin in a fixed time and never violate predefined constraints. The mechanical design of the wearable exoskeleton is carried out by Solidworks, and the actual control system is meticulously constructed. The simulation and experimental outcomes confirm the efficacy and superiority of the presented control methodology.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.