Finite time model prediction control method based on exoskeleton robot

Abstract

The invention discloses a finite time model prediction control method based on an exoskeleton robot, and belongs to the field of exoskeleton robots. The method aims at solving the problem that in theprior art, steady-state errors are too large under the conditions of time-varying disturbance and parameter uncertainty. The invention provides a finite time model prediction control method based on an exoskeleton robot, and the method comprises the following steps: firstly, proposing a high-gain observer based on finite time, and estimating the state and disturbance of a tracking error; secondly,providing an improved performance index which comprises two parts of error tracking and control input; and finally, performing rolling time domain optimization on the performance indexes to obtain amodel prediction control law. The method can meet the requirement of optimal non-offset tracking, has better steady-state performance under the condition of time-varying disturbance, and is easy to implement.

Description

technical field [0001] The present invention relates to the field of exoskeleton robots, more specifically, to a finite time model predictive control method based on exoskeleton robots. Background technique [0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator. Exoskeleton robots can be fully applied in civilian, military and commercial aspects. For example, in civilian aspects, they can assist those with disabilities to walk, and in military aspects, they can assist soldiers in combat. Due to the complexity of the mechanical structure of the exoskeleton robot and the influence of various parameters such as friction, it is difficult to obtain accurate values ​​for the parameters of the exoskeleton robot. [0003] Chinese patent application, publication number CN105955015A, published on September 21, 2016, discloses a fuzzy con...

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Problems solved by technology

[0006] Aiming at the problem of excessive steady-state error in the prior art under the condition of time-varying disturbance and parameter uncertainty, the present invention provides a finite-time model predictive control method based on exoskeleton robot, which can realize optimal unbiased The requirements of moving tracking ensure better dynamic stability and are easy to implement

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