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Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton
Joint Authors
Yang, Peng
Zhang, Gaowei
Wang, Jie
Wang, Xiaozhou
Zhang, Lili
Chen, Lingling
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-11-13
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton.
Firstly, the human-robot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg.
Then, Vicon motion capture system is employed to obtain the reference trajectory.
For the purpose of obviating the “explosion of complexity” in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy.
The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances.
Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory.
Finally, simulation results are presented to illustrate the effectiveness of the control strategy.
American Psychological Association (APA)
Yang, Peng& Zhang, Gaowei& Wang, Jie& Wang, Xiaozhou& Zhang, Lili& Chen, Lingling. 2017. Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1189419
Modern Language Association (MLA)
Yang, Peng…[et al.]. Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton. Mathematical Problems in Engineering No. 2017 (2017), pp.1-10.
https://search.emarefa.net/detail/BIM-1189419
American Medical Association (AMA)
Yang, Peng& Zhang, Gaowei& Wang, Jie& Wang, Xiaozhou& Zhang, Lili& Chen, Lingling. Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1189419
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1189419