Earticle

초록

영어

In this paper, a robust controller design approach is proposed for Lower Extremity Rehabilitation Robot (LERR) with automatic gait adaption. Based on the developed LERR dynamic model, the robot system is first decoupled into some independent second-order integral systems using inverbility decoupling method. Then a robust optimal PID controller is proposed for each sub-system to cope with the uncertainty in the system modeling by converting the PID controller design problem into a static output feedback H2/H∞ multi-objective optimization problem. The adaptive control methods are further investigated for a compliant gait trajectory planning. The performance of the designed controller is finally verified in the Adams-MATLAB/Simulink environment to show the effectiveness of the proposed robust control approach.

목차

Abstract
 1. Introduction
 2. Controller Design
  2.1 Invertibility decoupling
  2.2. Robust PID controller design
  2.3. Gait adaptation
 3. Adams Simulation Results
 4. Conclusion
 Acknowledgments
 References

키워드

저자

• Zhizheng Wu [ Department of Precision Mechanical Engineering, Shanghai University ]
• Feng Li [ Department of Precision Mechanical Engineering, Shanghai University ]
• Wenjun Mi [ Department of Precision Mechanical Engineering, Shanghai University ]
• Jingtao Lei [ Department of Precision Mechanical Engineering, Shanghai University ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605