Reduced-order adaptive robust cascading force control method for single-joint powered exoskeleton

Abstract

The invention discloses a reduced-order adaptive robust cascading force control method for the single-joint powered exoskeleton. A reduced-order model is adopted by aiming at the power reinforcement and following problems of the single-joint powered exoskeleton driven by a hydraulic cylinder, errors caused by sensor precision problems are effectively eliminated, and controller design is simplified. The cascading force control method is adopted in the controller design, an upper-layer controller and a lower-layer controller are designed, a single-joint reference track is generated by the upper-layer controller, and the reference track is tracked through the lower-layer controller. When the powered exoskeleton bears weights, man-machine acting force is minimized to achieve power assistance and motion along with a person. The upper-layer controller and the lower-layer controller are designed through an adaptive robust control (ARC) algorithm, the influence of model nondeterminacy of the single-joint powered exoskeleton is effectively overcome, the good following and assisting effects of the powered exoskeleton to the motion of the person are achieved, and high application value is achieved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for self-adaptive robust cascade force control of a single-joint power-assisted exoskeleton based on a reduced-order model. Background technique [0002] Soldiers in the army often need to carry heavy loads for long-distance walking or combat. Overweight loads often cause certain damage to the soldiers' bodies. In this context, it is necessary to develop a Exoskeleton equipment; In scientific research, fire rescue and other fields, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field combat, mountaineering expeditions, etc. Traditional wheeled vehicles are difficult to operate in these special areas. occasions come into play. In addition, exoskeletons can also be used for cargo loading and unloading in warehouses to reduce the labor intensity of porters. The combination of exoskeleton a...

AI Technical Summary

Problems solved by technology

The characteristic of the power-assisted exoskeleton is that it requires collaboration with the wearer in an unstructured environment, which requires researchers to solve the highly coordinated human-machine integration problem in an unstructured environment, including effective and reliable human-computer interaction issues. The rapid response to human motion intentions, the lightweight and flexible bionic structure design, the safety of the man-machine system, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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