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在存在系统不确定性的情况下,基于高斯回归器的外骨架关节的自适应控制
Mohamed Abdelhady1, Thomas C Bulea1
1Rehabilitation Medicine Department, National Institutes of Health Clinical Center, Bethesda, MD, USA.
Wearable technologies
|September 19, 2025
概括
基于高斯的自适应控制 (GBAC) 有效地管理下肢外骨架的不确定性. 这种适应性控制方法可以提高跟踪性能和融合速度,这对于临床应用至关重要.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 生物力学 生物力学
背景情况:
- 系统的不确定性给下肢外骨控制带来了挑战,特别是在临床环境中.
- 适应性控制策略可以实时处理未知的系统动态.
- 现有的控制方法可能会与患者群体固有的变异性作斗争.
研究的目的:
- 介绍和评估基于高斯的适应控制 (GBAC) 对于外骨应用.
- 在系统不确定性下,评估GBAC与已建立的控制器的性能.
- 研究GBAC在模拟和实验外骨架设置中的有效性.
主要方法:
- 使用拉格朗日力学开发了一个基于高斯的自适应控制 (GBAC) 算法.
- 进行了2-DOF模拟,比较GBAC与强大的自适应后退,Slotine-Li和PID控制器.
- 在膝关节外骨架上进行了1-DOF模拟和实验测试,以评估在干扰和不确定性下的性能.
主要成果:
- GBAC展示了优越的跟踪性能和在模拟中更快的融合,特别是在增加干扰和参数不确定性的情况下.
- 实验结果显示,GBAC和Slotine-Li提供了稳定的跟踪,GBAC表现出更快的收和更低的跟踪误差.
- 在处理未建模的系统动态和参数变化方面,GBAC被证明是有效的.
结论:
- GBAC是一种有前途的适应性控制策略,用于面临系统不确定性的下肢外骨架.
- 控制器的实时适应能力使其适用于灵活的关节外骨架.
- GBAC需要进一步的研究,以便在儿科和临床群体中应用,系统变异性很高.
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