Switched control of an N-degree-of-freedom input delayed wearable robotic system
Switched control of an N-degree-of-freedom input delayed wearable robotic system
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DOI：
10.1016/j.automatica.2020.109455
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发表时间：
2021-01-16
期刊：
影响因子：
6.4
通讯作者：
Sharma, Nitin
中科院分区：
文献类型：
--
作者：
Sheng, Zhiyu;Sun, Ziyue;Sharma, Nitin
在本文中，推导了一类可穿戴机器人系统的切换控制方法，该方法优先在辅助刚性动力外骨骼中使用人类骨骼肌。提出了一种通用的 N 自由度 (N-DOF) 人类机器人模型来考虑可穿戴系统带来的挑战，包括不确定性和非线性、骨骼肌的单侧致动特性、输入延迟以及随时间变化的致动器效率。交替切换和控制可穿戴机器人系统的两种控制模式旨在克服这些挑战。对开关标准进行状态相关约束的多重李亚普诺夫泛函分析以证明稳定性。进行仿真以演示为每个子系统选择的增益条件，以稳定整个系统。对佩戴结合了功能性电刺激和动力外骨骼的 4 自由度混合外骨骼的人类参与者进行的实验证明了切换控制设计的有效性。 (C) 2020 Elsevier Ltd. 保留所有权利。
In this paper, a switched control method for a class of wearable robotic systems that prioritizes the use of human skeletal muscles in an assistive rigid powered exoskeleton is derived. A general N-degree-of-freedom (N-DOF) human-robot model is proposed to consider the challenges induced by the wearable system that include uncertainties and nonlinearities, unilateral actuation properties of the skeletal muscles, input delays, as well as a time varying actuator efficiency. Two control modes that alternatively switch and control a wearable robotic system are designed to overcome these challenges. A multiple Lyapunov functional analysis with state-dependent constraints on the switch criteria is performed to prove the stability. Simulations are performed to demonstrate the gain conditions, selected for each subsystem, that stabilize the overall system. Experiments on a human participant wearing a 4-DOF hybrid exoskeleton that combines functional electrical stimulation and a powered exoskeleton demonstrate the effectiveness of the switched control design. (C) 2020 Elsevier Ltd. All rights reserved.