Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker

doi:10.7652/xjtuxb202007001

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Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker

更新时间：2025-07-09

- Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker
- Vol. 54, Issue 7, Pages: 1-8+74(2020)
- 作者机构：
  
  沈阳工业大学信息科学与工程学院,沈阳,110870
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202007001
  CLC： TP13
- Online First：10 July 2020，
  
  Published：2020
- 稿件说明：
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Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker[J]. 2020, 54(7): 1-8+74.
DOI：

Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker[J]. 2020, 54(7): 1-8+74. DOI： 10.7652/xjtuxb202007001.

摘要

为了解决死区影响全方向康复步行训练机器人系统的跟踪精度问题

提出了一种具有死区补偿的反步有限时间控制方法。考虑系统的未知死区

利用自适应方法估计死区宽度

获得死区信息并对其进行补偿

从而有效抑制了死区对系统跟踪性能的影响

避免了系统发生极限环振荡。为了防止机器人初始运动阶段产生较大的跟踪误差而影响康复者的安全

提出了反步有限时间控制方法

确保跟踪误差系统在有限时间内达到稳定。基于Lyapunov有限时间稳定理论

给出了误差系统的稳定条件及稳定时间。与速度和加速度同时约束的控制方法进行了仿真和实验对比

结果表明:所提的控制器设计方法可使系统的跟踪误差在大约8 s后趋向于0

机器人在有限时间内实现了对指定轨迹的稳定跟踪

解决了速度和加速度同时约束的控制方法不能使机器人稳定地跟踪训练轨迹、无法解决系统死区的问题; 所提的有限时间控制方法能使系统误差快速收敛

有效解决了死区对系统性能的影响

提高了机器人的跟踪精度和安全性。

Abstract

To solve the problem of the dead -one characteristics affecting the tracking accuracy of the system for rehabilitation training walker

a backstepping finite-time control method with dead -one compensation is correspondingly proposed. Taking the unknown dead -one of the system into account

the width of the dead -one is estimated with the adaptive method to obtain information in the dead -one and compensate the dead -one

thus effectively suppressing the influence of the dead -one on the tracking performance of the system and avoiding the limit cycle oscillation of the system. In addition

to prevent the large tracking error during the initial motion of the walker endangering the safety of the rehabilitee

a backstepping finite-time control method is proposed to ensure that the tracking error remains stable within a limited period. Following Lyapunov finite-time stability theory

the stability conditions and stability time of the error system are obtained. For the control method of sim

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references

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