A Robust Adaptive Admittance Controller for Lower Limb Exoskeleton
سال انتشار: 1398
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 385
نسخه کامل این مقاله ارائه نشده است و در دسترس نمی باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
ISME24_656
تاریخ نمایه سازی: 21 مهر 1398
چکیده مقاله:
In this paper, an admittance control scheme for an augmentation lower body exoskeleton is presented. The design basically consists of, on the one hand, a composite adaptive controller which utilizes a feedback law in order to compensate the modeled dynamics and, a robust term to overcome the unmodeled dynamics, and on the other hand, an admittance relation which is founded based on a small multiplication of the exoskeleton dynamics. The admittance control is employed to substitute the new admittance - as the apparent dynamics - for the robot’s forward dynamics. lt is proved that based on the resulting controller, the tracking error converges to zero. Moreover,utilization of a composite adaptation law results the convergence of parameter estimations to their right values. Finally, the design is evaluated by means of simulations.
نویسندگان
h Shahi
Center of Advanced Systems &Techn۰l۰gies, University ۰f Tehran
a Yousefi-Koma
Center ۰f Advanced Systems &Techn۰l۰gies, University ۰f Tehran
m Mohamadi Moghaddam
Faculty of Mechanical Engineering, Tarbiat Modares University;
Shahrzad Damercheli
Center ۰f Advanced Systems &Techn۰l۰gies, University of Tehran;