携行外骨骼自适应虚拟力矩控制研究

Adaptive Virtual Torque Control of Powered Lower Extremity Exoskeleton on the Basis of Wavelet Neural Network

在深入分析人的行为特征以及携行系统虚拟力矩控制机理的基础上,设计了非线性自适应控制器来克服摩擦及系统不确定性等非线性因素的影响。基于李亚普诺夫稳定性原理设计了自适应虚拟力矩控制器,并将其应用于下肢外骨骼的运动控制,理论分析及仿真结果证明了此控制方案的可行性及有效性。

Based on the analysis of the human behavior characteristics and the control mechanism of powered exoskeleton system virtual joint torque control, The nonlinear adaptive controller is designed to overcome the effect of the confriction and the uncertain. Based on Lyapunov stability principle, the adaptive controller is designed, which is used to control lower extremity exoskeleton. Theoretical analysis and simulation results verify the feasibility and validity of this control method.