Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
Joint Authors
Long, Yi
Du, Zhi-jiang
Wang, Wei-dong
Dong, Wei
Source
Applied Bionics and Biomechanics
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-03-16
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A lower limb assistive exoskeleton is designed to help operators walk or carry payloads.
The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination.
If the user’s intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton.
In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent.
A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC.
The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data.
Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance.
The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems.
American Psychological Association (APA)
Long, Yi& Du, Zhi-jiang& Wang, Wei-dong& Dong, Wei. 2016. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton. Applied Bionics and Biomechanics،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1094819
Modern Language Association (MLA)
Long, Yi…[et al.]. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton. Applied Bionics and Biomechanics No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1094819
American Medical Association (AMA)
Long, Yi& Du, Zhi-jiang& Wang, Wei-dong& Dong, Wei. Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton. Applied Bionics and Biomechanics. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1094819
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1094819