A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone
文献类型：期刊论文
| 作者 | Dingxin He; HaoPing Wang; Yang Tian; Yida Guo |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:3页码:760-781 |
| ISSN号 | 2329-9266 |
| 关键词 | Adaptive control input deadzone model-free control n-DOF upper-limb exoskeleton neural network |
| DOI | 10.1109/JAS.2023.123882 |
| 英文摘要 | This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties, external disturbances and input deadzone. Considering the model complexity and input deadzone, a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design. Firstly, the control gain of ultra-local model is considered as a constant. The fractional-order sliding mode technique is designed to stabilize the closed-loop system, while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance. Correspondingly, a fractional-order ultra-local model-based neural network sliding mode controller (FO-NNSMC) is proposed. Secondly, to avoid disadvantageous effect of improper gain selection on the control performance, the control gain of ultra-local model is considered as an unknown parameter. Then, the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain. Correspondingly, a fractional-order ultra-local model-based adaptive neural network sliding mode controller (FO-ANNSMC) is proposed. Moreover, the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory. Finally, with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton, the obtained compared results illustrate the effectiveness and superiority of the proposed method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54606]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Dingxin He,HaoPing Wang,Yang Tian,et al. A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(3):760-781. |
| APA | Dingxin He,HaoPing Wang,Yang Tian,&Yida Guo.(2024).A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone.IEEE/CAA Journal of Automatica Sinica,11(3),760-781. |
| MLA | Dingxin He,et al."A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone".IEEE/CAA Journal of Automatica Sinica 11.3(2024):760-781. |
入库方式： OAI收割
来源：自动化研究所
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