Dynamic output feedback control for a walking assistance training robot to handle shifts in the center of gravity and time-varying arm of force in omniwheel
Dynamic output feedback control for a walking assistance training robot to handle shifts in the center of gravity and time-varying arm of force in omniwheel
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DOI：
10.1177/1729881419846737
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发表时间：
2020-01
影响因子：
2.3
通讯作者：
Hongbin Chang;Shuoyu Wang;P. Sun
中科院分区：
文献类型：
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作者：
Hongbin Chang;Shuoyu Wang;P. Sun
在本研究中，我们设计了一个动态输出反馈控制的步行辅助训练机器人。所提出的系统解决的问题，在重心和振动的变化与时变力臂的全向轮，以提高步行辅助训练机器人的轨迹跟踪的准确性。通过构造一个速度观测器的随机动力学模型的步行辅助训练机器人通过集成与李雅普诺夫函数的动态输出反馈控制器。通过对全向轮力臂随时间变化的分析，发现它提高了步行辅助训练机器人动力学模型的精度。为此，设计了自适应律，消除了全向轮力臂时变引起的振动。基于Young不等式和随机稳定性理论，证明了位置和速度跟踪误差的平均绝对实际稳定性。仿真结果表明，重心偏移的步行辅助训练机器人能够跟踪设计轨迹，自适应律的应用有效地消除了全向轮力臂时变引起的振动。
In this study, we designed a dynamic output feedback control for a walking assistance training robot. The proposed system addresses the problems of shifts in the center of gravity and vibration associated with time-varying arm of force in omniwheel to improve the accuracy of the trajectory tracking of the walking assistance training robot. The dynamic output feedback controller was developed by constructing a velocity observer on a stochastic dynamic model of the walking assistance training robot via integration with a Lyapunov function. An analysis of the time-varying arm of force in omniwheel revealed that it increased the accuracy of the walking assistance training robot dynamic model. Thus, an adaptive law was designed such that the vibration caused by the time-varying arm of force in omniwheel was eliminated. The mean absolute practical stability in the position and velocity tracking errors was verified based on Young’s inequality and stochastic stability theory. The simulation results show that the walking assistance training robot with the shifts in the center of gravity was able to track a designed trajectory and that the application of the adaptive law effectively eliminates the vibrations caused by the time-varying arm of force in omniwheel.