Fuzzy Approximation-Based Adaptive Backstepping Control of an Exoskeleton for Human Upper Limbs
文献类型：期刊论文
| 作者 | Li Zhijun; Su ChunYi; Li Guanglin; Su Hang |
| 刊名 | IEEE TRANSACTIONS ON FUZZY SYSTEMS
 |
| 出版日期 | 2015 |
| 英文摘要 | This paper presents fuzzy approximation-based adaptive backstepping control of an exoskeleton for human upper limbs to provide forearm movement assistance so that a human forearm can track any continuous desired trajectory (or constant setpoint) in the presence of parametric/functional uncertainties, unmodeled dynamics, actuator dynamics, and/or disturbances from environments. Given the desired trajectories of human forearm positions, in the developed control, adaptive fuzzy approximators are used to estimate the dynamical uncertainties of the human-robot system, and an iterative learning scheme is utilized to compensate for unknown time-varying periodic disturbances. With the synthesis of the backstepping, iterative learning, and Lyapunov function approaches, the developed controller does not require exact knowledge of the exoskeleton model, and the close-loop system can be proven to be semiglobally uniformly bounded. Three comparison experiments are conducted to illustrate the effectiveness of the proposed control scheme by tracking periodic/repeated trajectories |
| 收录类别 | SCI |
| 原文出处 | http://ieeexplore.ieee.org/iel7/91/4358784/06798669.pdf?arnumber=6798669 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/7076]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | IEEE TRANSACTIONS ON FUZZY SYSTEMS |
| 推荐引用方式 GB/T 7714 | Li Zhijun,Su ChunYi,Li Guanglin,et al. Fuzzy Approximation-Based Adaptive Backstepping Control of an Exoskeleton for Human Upper Limbs[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2015. |
| APA | Li Zhijun,Su ChunYi,Li Guanglin,&Su Hang.(2015).Fuzzy Approximation-Based Adaptive Backstepping Control of an Exoskeleton for Human Upper Limbs.IEEE TRANSACTIONS ON FUZZY SYSTEMS. |
| MLA | Li Zhijun,et al."Fuzzy Approximation-Based Adaptive Backstepping Control of an Exoskeleton for Human Upper Limbs".IEEE TRANSACTIONS ON FUZZY SYSTEMS (2015). |
入库方式： OAI收割
来源：深圳先进技术研究院
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