The advanced iterative learning control algorithm for rehabilitation exoskeletons

Scientific Technical Review

Živković Nikola¹  Lazarević Mihailo² 

[1] Lola institute, Belgrade, Serbia;University of Belgrade, Faculty of Mechanical Engineering, Serbia;

关键词: biomechanical model;    iterative learning control;    feedback linearization;    uncertainty;   

DOI  :  10.5937/str2003029L

来源: DOAJ

【 摘 要 】

In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out.

【 授权许可】

Unknown