Title :
Adaptive fuzzy control of operation space constrained exoskeletons under unmodelled dynamics
Author :
Hang Su ; Hongbin Zhang ; Zhijun Li ; Chun-Yi Su
Author_Institution :
Coll. of Autom., South China Univ. of Technol., Guangzhou, China
Abstract :
In this paper, we present adaptive fuzzy tracking an exoskeletons that operates in a constrained region of the task space. The exoskeleton enables a human forearm to track any continuous desired trajectory within the constrained range, in the presence of parametric/functional uncertainties, unmodelled dynamics including actuator dynamics, and/or disturbances from the environment. Barrier Composite Energy Function (BCEF) scheme with a novel Barrier Lyapunov Function is proposed to facilitate the analysis of state tracking error convergence without the end-effector ever transgressing the constrained region. Adaptive scheme of fuzzy approximation controller to compensate for functional uncertainties in the dynamic model of human and exoskeleton, and unknown disturbances from the environment. The proposed adaptive control performance is validated through actual experiments.
Keywords :
Lyapunov methods; adaptive control; end effectors; fuzzy control; manipulator dynamics; trajectory control; uncertain systems; BCEF scheme; actuator dynamics; adaptive control performance; adaptive fuzzy control; adaptive fuzzy tracking; barrier Lyapunov function; barrier composite energy function; constrained region; end-effector; exoskeleton dynamic model; fuzzy approximation controller; human dynamic model; human forearm; operation space constrained exoskeletons; parametric/functional uncertainties; state tracking error convergence; trajectory tracking; unmodelled dynamics; Adaptation models; Aerospace electronics; Exoskeletons; Joints; Lyapunov methods; Robots; Trajectory; Fuzzy approximation; constrained region; exoskeleton;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053257
