在执行器故障和外部干扰下,基于障碍函数的规定的性能轨迹跟踪控制轮椅上肢外骨架机器人:实验验证实验验证:实验验证实验验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实验证实
Huan-Chung Li1, Omid Mofid2, Saleh Mobayen3
1Graduate Institute of Biomedical Informatics, Taipei Medical University, Taipei 11031, Taiwan.
ISA transactions
|December 10, 2024
概括
这项研究引入了轮椅外骨架机器人的新控制策略,增强了轨迹跟踪. 该方法确保了对执行器故障和干扰的稳健性能,并通过模拟和实验验证.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 生物力学和康复工程 生物力学和康复工程
背景情况:
- 轮椅上肢外骨架机器人需要强大的控制才能有效地跟踪轨迹.
- 执行器故障和外部干扰对外骨的性能和安全构成重大挑战.
研究的目的:
- 开发一种创新的控制策略,可靠地跟踪轮椅上肢外骨架机器人的轨迹.
- 为了提高系统的强度,防止执行器故障和外部干扰.
主要方法:
- 滑动模式控制 (SMC) 与基于屏障功能的规定的性能方法的整合.
- 开发一个双相控制设计,以解决跟踪错误和系统不确定性.
- 严格的稳定性和准确性验证使用Lyapunov理论.
主要成果:
- 实现了强大的轨迹跟踪,尽管执行器故障和外部干扰.
- 证明了快速的错误收和改进的短暂行为.
- 通过理论分析和实验验证验证了系统的稳定性和对不确定性的弹性.
结论:
- 拟议的控制策略有效地提高了轮椅外骨架机器人的轨迹跟踪.
- 综合方法确保了系统的稳定性,并在具有挑战性的条件下保持性能.
- 该方法显示了对现实世界外骨系统的实际适用性.
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