Position tracking optimization control method based on flexible actuator of exoskeleton robot

Abstract

The invention discloses a position tracking optimization control method based on a flexible actuator of an exoskeleton robot. The method comprises the steps: building a dynamic mathematic model; to bespecific, building a dynamic mathematic model of a flexible actuator of an exoskeleton robot through employing the Newton's law of motion under the condition that the impact from a friction force isneglected; defining a rolling optimization performance index; optimizing the control performance by selecting a proper optimization index; outputting position prediction based on disturbance compensation; designing a disturbance observer; to be specific, respectively designing the corresponding disturbance observers for matching and non-matching interferences according to the measured position information; and designing a composite controller; to be specific, designing a corresponding composite control scheme by utilizing the observed disturbance information and combining generalized prediction and starting from feedforward and feedback control respectively. The method is based on a position tracking algorithm combining interference active compensation and generalized model prediction control, and has the characteristics of accurate tracking of a given reference trajectory, strong anti-interference capability, high stability, easy realization and the like.

Description

technical field [0001] The invention relates to the field of exoskeleton robot control systems, and more specifically relates to an accurate position tracking algorithm based on the combination of disturbance active compensation and generalized model predictive control. Background technique [0002] Exoskeleton robots play a very important role in military, medical and industrial fields. In natural disaster rescue, exoskeleton robots can provide rescuers with greater strength, can easily lift broken walls and save more lives. On the battlefield, exoskeleton robots can help soldiers reduce their load, and exoskeleton armor can enable soldiers to resist the damage of bullets and save lives. In medical treatment, exoskeleton robots can help paraplegic patients stand up and walk again. In addition, exoskeleton robots can also increase the exercise capacity of the elderly, prevent the decline in biological functions of the elderly due to reduced activity, bring convenience to t...

AI Technical Summary

Problems solved by technology

[0007] In view of the above problems, the present invention provides a position tracking optimization control method based on flexible actuators of exoskeleton robots, which is mainly based on a position tracking algorithm combining active disturbance compensation and generalized model predictive control, and has Accurate tracking, strong anti-interference ability, good stability, easy to implement, etc., solve the problem of matching and non-matching disturbance in the existing technology and the traditional model predictive control method relies on model parameters to bring adverse effects on high-precision prediction

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