Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/21/10174 |
| _version_ | 1797512756022214656 |
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| author | Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao |
| author_facet | Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao |
| author_sort | Zhirui Zhao |
| collection | DOAJ |
| description | In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot-assisted rehabilitation. The proposed method is capable of addressing the defect of the initial error in the controller design and the application by adopting a tuning function, as compared with other prescribed performance methods. Moreover, the method developed here was not determined by the dynamic model parameters, which merely exploit the input and output data. Theoretically, the stability exhibited by the proposed controller and the tracking performance can be demonstrated. From the experimental results, the root mean square of the tracking error is equal to 1.06 degrees, and the steady-state tracking error converges to 1.91 degrees. These results can verify the expected performance of the developed control method. |
| first_indexed | 2024-03-10T06:06:10Z |
| format | Article |
| id | doaj.art-0875eeb1e47e487d83854b8c9d972587 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:06:10Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-0875eeb1e47e487d83854b8c9d9725872023-11-22T20:28:57ZengMDPI AGApplied Sciences2076-34172021-10-0111211017410.3390/app112110174Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training TasksZhirui Zhao0Jichun Xiao1Hongyun Jia2Hang Zhang3Lina Hao4Department of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaDepartment of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaDepartment of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaDepartment of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaDepartment of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaIn this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot-assisted rehabilitation. The proposed method is capable of addressing the defect of the initial error in the controller design and the application by adopting a tuning function, as compared with other prescribed performance methods. Moreover, the method developed here was not determined by the dynamic model parameters, which merely exploit the input and output data. Theoretically, the stability exhibited by the proposed controller and the tracking performance can be demonstrated. From the experimental results, the root mean square of the tracking error is equal to 1.06 degrees, and the steady-state tracking error converges to 1.91 degrees. These results can verify the expected performance of the developed control method.https://www.mdpi.com/2076-3417/11/21/10174upper-limb exoskeletonmodel-free adaptive controlprescribed performancepassive rehabilitation |
| spellingShingle | Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks Applied Sciences upper-limb exoskeleton model-free adaptive control prescribed performance passive rehabilitation |
| title | Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks |
| title_full | Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks |
| title_fullStr | Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks |
| title_full_unstemmed | Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks |
| title_short | Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks |
| title_sort | prescribed performance control for the upper limb exoskeleton system in passive rehabilitation training tasks |
| topic | upper-limb exoskeleton model-free adaptive control prescribed performance passive rehabilitation |
| url | https://www.mdpi.com/2076-3417/11/21/10174 |
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