全方向康复步行训练机器人具有死区补偿的反步有限时间控制

孙平; 丁雨姗

doi:10.7652/xjtuxb202007001

您当前的位置：

首页 >

文章列表页 >

全方向康复步行训练机器人具有死区补偿的反步有限时间控制

更新时间：2025-07-09

- 全方向康复步行训练机器人具有死区补偿的反步有限时间控制
- Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker
- 西安交通大学学报 2020年54卷第7期页码：1-8+74
- 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：
  
  : 2019-12-11。作者简介: 孙平(1974—),女,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2016 YFD0700104);辽宁省自然科学基金资助项目(2019-ZD-0203);辽宁省自然科学基础研究资助项目(LJGD2019017)
- DOI：10.7652/xjtuxb202007001
  中图分类号： TP13
- 网络首发：2020-07-10，
  
  纸质出版：2020
- 稿件说明：
移动端阅览
孙平, 丁雨姗. 全方向康复步行训练机器人具有死区补偿的反步有限时间控制[J]. 西安交通大学学报, 2020,54(7):1-8+74.

Backstepping Finite-Time Control with Dead-Zone Compensation for Omnidirectional Rehabilitative Training Walker[J]. 2020, 54(7): 1-8+74.
孙平, 丁雨姗. 全方向康复步行训练机器人具有死区补偿的反步有限时间控制[J]. 西安交通大学学报, 2020,54(7):1-8+74. DOI： 10.7652/xjtuxb202007001.

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

关键词

Keywords

references

MENG W, LIU Q, ZHOU Z D, et al. Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation [J]. Mechatronics, 2015, 31: 132-145.

FATEH M M, KHOSHDEL V. Voltage-based adaptive impedance force control for a lower-limb rehabilitation robot [J]. Advanced Robotics, 2015, 29(15): 961-971.

SANZMERODIO D, CESTARI M, AREVALO J C, et al. Generation and control of adaptive gaits in lower-limb exoskeletons for motion assistance [J]. Advanced Robotics, 2014, 28(5): 329-338.

SUN P, WANG S Y. Redundant input safety tracking for omnidirectional rehabilitative training walker with control constraints [J]. Asian Journal of Control, 2017, 19(1): 116-130.

YUN D, KHAN A M, YAN R J, et al. Handling subject arm uncertainties for upper limb rehabilitation robot using robust sliding mode control [J]. International Journal of Precision Engineering and Manufacturing, 2016, 17(3): 355-362.

WEN Z, QIAN J W, SHEN L Y, et al. Experimental research on trajectory control of walking rehabilitation training robot [J]. Applied Mechanics and Materials, 2012, 187: 177-185.

HU C X, YAO B, WANG Q F. Adaptive robust precision motion control of systems with unknown input dead-zones: a case study with comparative experiments [J]. IEEE Transactions on Industrial Electronics, 2011, 58(6): 2454-2464.

杨航, 刘凌, 倪骏康, 等. 双关节刚性机器人自适应BP神经网络算法 [J]. 西安交通大学学报, 2018, 52(1): 129-135, 164.

YANG Hang, LIU Ling, NI Junkang, et al. An adaptive BP neural network algorithm for 2-joint rigid robots [J]. Journal of Xi’an Jiaotong University, 2018, 52(1): 129-135, 164.

IBRIR S, XIE W F, SU C Y. Adaptive tracking of nonlinear systems with non-symmetric dead-zone input [J]. Automatica, 2007, 43(3): 522-530.

ZUO Z Y, JU X L, DING Z T. Control of gear transmission servo systems with asymmetric deadzone nonlinearity [J]. IEEE Transactions on Control Systems Technology, 2016, 24(4): 1472-1479.

SHI Z G, ZUO Z Y. Backstepping control for gear transmission servo systems with backlash nonlinearity [J]. IEEE Transactions on Automation Science and Engineering, 2015, 12(2): 752-757.

YU J P, ZHAO L, YU H S, et al. Fuzzy finite-time command filtered control of nonlinear systems with input saturation [J]. IEEE Transactions on Cybernetics, 2018, 48(8): 2378-2387.

YU J P, SHI P, ZHAO L. Finite-time command filtered backstepping control for a class of nonlinear systems [J]. Automatica, 2018, 92: 173-180.

LIU H T, ZHANG T. Adaptive neural network finite-time control for uncertain robotic manipulators [J]. Journal of Intelligent Robotic Systems, 2014, 75(3): 363-377.

NA J, MAHYUDDIN M N, HERRMANN G, et al. Robust adaptive finite time parameter estimation and control for robotic systems [J]. International Journal of Robust and Nonlinear Control, 2015, 25(16): 3045 -3071.

VAN M, GE S S, REN H L. Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control [J]. IEEE Transactions on Cybernetics, 2017, 47(7): 1681-1693.

CHANG H B, SUN P, WANG S Y. Output tracking control for an omnidirectional rehabilitative training walker with incomplete measurements and random parameters [J]. International Journal of Systems Science, 2017, 48(12): 2509-2521.

SUN P, WANG S Y, KARIMI H R. Robust redundant input reliable tracking control for omnidirectional rehabilitative training walker [J]. Mathematical Problems in Engineering, 2014, 2014: 1-10.

PARK S H, HAN S I. Robust-tracking control for robot manipulator with deadzone and friction using backstepping and RFNN controller [J]. IET Control Theory and Applications, 2011, 5(12): 1397-1417.

BHAT S P, BERNSTEIN D S. Finite-time stability of continuous autonomous systems [J]. SIAM Journal on Control and Optimization, 2000, 38(3): 751-766.

孙平. 不确定康复训练机器人速度与加速度同时约束的跟踪控制 [J]. 北京理工大学学报, 2018, 38(10): 1067-1072.

SUN Ping. Tracking control for uncertain rehabilitative training walker with velocity and acceleration simultaneous constraints [J]. Transactions of Beijing Institute of Technology, 2018, 38(10): 1067-1072.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

不同板叠材料热声热机能量转换过程数值模拟研究

超临界水异常区域热力学特性研究

扇贝仿生密封腔室内超临界二氧化碳泄漏流湍动能耗散机理研究

混合电解槽阵列协同的风光耦合制氢系统双层多目标优化

电动车辆间接热系统快速除湿响应迟滞机理及优化控制策略