| 引用本文: | 张高巍,杨鹏,王婕,孙建军.可穿戴五自由度上肢外骨骼机器人固定时间控制[J].控制理论与应用,2020,37(1):205~214.[点击复制] |
| ZHANG Gao-wei,YANG Peng,WANG Jie,SUN Jian-jun.Fixed-time control for wearable 5 degrees of freedom upper-limb exoskeleton[J].Control Theory and Technology,2020,37(1):205~214.[点击复制] |
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| 可穿戴五自由度上肢外骨骼机器人固定时间控制 |
| Fixed-time control for wearable 5 degrees of freedom upper-limb exoskeleton |
| 摘要点击 3021 全文点击 1090 投稿时间：2018-04-04 修订日期：2019-06-05 |
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| DOI编号 10.7641/CTA.2019.80235 |
| 2020,37(1):205-214 |
| 中文关键词 外骨骼机器人 固定时间控制 干扰观测器 滑模控制 轨迹跟踪 |
| 英文关键词 Exoskeleton Fixed-time control Disturbance observer Sliding mode Trajectory tracking |
| 基金项目 国家自然科学基金(61703134,61703135,61773151,61503118),天津市自然科学基金(No.17JCQNJC04400),河北省自然科学基金(No.F2015202150),河北省研究生创新资助项目(CXZZBS2017038) |
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| 中文摘要 |
| 针对可穿戴上肢外骨骼系统在外部干扰及参数不确定条件下的轨迹跟踪问题，提出了一种基于观测器的固定时间控制策略。首先，采用拉格朗日方法对五自由度上肢外骨骼系统的动力学模型进行面向控制处理。其次，考虑模型中存在参数不确定及外部干扰，基于改进超螺旋算法设计了固定时间干扰观测器，实现对系统干扰的实时估计，完成对控制器的在线补偿；在此基础上，设计了非奇异终端滑模固定时间控制律，保证外骨骼关节角度跟踪误差在固定时间内收敛至原点。再次，基于Lyapunov方法证明了闭环系统的稳定性。最后，通过对比和数值仿真结果证明所提出控制策略的有效性。 |
| 英文摘要 |
| Aiming at the trajectory tracking problems of wearable upper-limb exoskeleton under the condition of lumped perturbations, an observer-based fixed-time control strategy is proposed in this paper. Firstly, the dynamic model of 5 degrees of freedom (DOF) upper-limb exoskeleton is constructed by Lagrange method for control purpose. Secondly, considering the parameter uncertainties and external disturbances existing in the model, a fixed-time disturbance observer (FTDO) based on improved super-twisting algorithm is designed to estimate the lumped perturbations and compensate the controller online. Furthermore, a non-singular terminal sliding mode controller (NTSMC) is proposed to guarantee that the angle tracking errors can be forced to the origin in fixed-time and maintained zero in all subsequent time. Subsequently, the stability of closed-loop system is proved by Lyapunov theory. Finally, Comparison and numerical simulation results are given to demonstrate the effectiveness of the proposed integrated control strategy. |
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