期刊
COMPUTING IN SCIENCE & ENGINEERING
卷 21, 期 6, 页码 6-19出版社
IEEE COMPUTER SOC
DOI: 10.1109/MCSE.2018.110150902
关键词
Exoskeletons; Output feedback; Observers; Electrohydraulics; Actuators; Backstepping; Controllers; repetitive learning extended state observer; output feedback control; electro-hydraulic actuator; rehabilitation exoskeleton; backstepping
资金
- Natural Science Foundation of China [61640310, 61603316]
This paper addresses the output feedback repetitive learning control of an electrohydraulic actuator of a lower limb rehabilitation exoskeleton. A repetitive learning extended state observer (RLESO) is proposed to estimate the unmeasurable system states, mismatched modeling uncertainties, and repetitive unknowns. Based on the backstepping technique and RLESO, an output feedback repetitive controller (OFRC) is developed to improve the tracking performance. Both the convergence of the RLESO and the stability of the closed-loop system are proved in a Lyapunov way. The efficiencies of the proposed RLESO and OFRC are verified via simulation. It is worthwhile to highlight that the repetitive learning scheme is integrated into both the observer and controller design parts. In this way, the remarkable performances of the output tracking via OFRC and the estimations of unmeasurable states via RLESO can be ensured.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据