Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System
For the purpose of reducing power consumption of a leg exoskeleton for augmenting human performance, a novel hybrid hydraulic system (HHS) which includes a unidirectional servo valve and a solenoid on-off valve is excogitated, and its energy saving control is studied in this paper. Inspired by the v...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8984320/ |
| _version_ | 1818444393345974272 |
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| author | Yong Yang Xiucheng Dong Xia Liu Deqing Huang |
| author_facet | Yong Yang Xiucheng Dong Xia Liu Deqing Huang |
| author_sort | Yong Yang |
| collection | DOAJ |
| description | For the purpose of reducing power consumption of a leg exoskeleton for augmenting human performance, a novel hybrid hydraulic system (HHS) which includes a unidirectional servo valve and a solenoid on-off valve is excogitated, and its energy saving control is studied in this paper. Inspired by the varieties of contact force between human leg and ground during walking, the unidirectional servo valve and the solenoid on-off valve are only activated in the stance phase and the swing phase, respectively. In the stance phase, a robust repetitive learning scheme is presented by using the backstepping technique for the unidirectional servo valve, aiming to track the periodic human leg movement, and in the swing phase, an on-off control is proposed for the solenoid valve to release the pressure in the hydraulic cylinder so that the exoskeleton leg is bent by the human leg passively. The proposed control strategy is implemented in an ARM-based embedded microprocessor and the control performance is verified via experiment on the developed exoskeleton robot. The experimental results show that the power consumption of the proposed system is almost 30% less than that of systems with bidirectional hydraulic system. |
| first_indexed | 2024-12-14T19:15:13Z |
| format | Article |
| id | doaj.art-d68776cbc9bd4e02a8ae66aa7da83632 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T19:15:13Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d68776cbc9bd4e02a8ae66aa7da836322022-12-21T22:50:38ZengIEEEIEEE Access2169-35362020-01-018277052771410.1109/ACCESS.2020.29717778984320Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic SystemYong Yang0https://orcid.org/0000-0001-6368-4313Xiucheng Dong1https://orcid.org/0000-0002-4676-8213Xia Liu2https://orcid.org/0000-0001-7043-8495Deqing Huang3https://orcid.org/0000-0002-8185-9030School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, ChinaSchool of Electrical Engineering and Electronic Information, Xihua University, Chengdu, ChinaSchool of Electrical Engineering and Electronic Information, Xihua University, Chengdu, ChinaSchool of Electrical Engineering, Southwest Jiaotong University, Chengdu, ChinaFor the purpose of reducing power consumption of a leg exoskeleton for augmenting human performance, a novel hybrid hydraulic system (HHS) which includes a unidirectional servo valve and a solenoid on-off valve is excogitated, and its energy saving control is studied in this paper. Inspired by the varieties of contact force between human leg and ground during walking, the unidirectional servo valve and the solenoid on-off valve are only activated in the stance phase and the swing phase, respectively. In the stance phase, a robust repetitive learning scheme is presented by using the backstepping technique for the unidirectional servo valve, aiming to track the periodic human leg movement, and in the swing phase, an on-off control is proposed for the solenoid valve to release the pressure in the hydraulic cylinder so that the exoskeleton leg is bent by the human leg passively. The proposed control strategy is implemented in an ARM-based embedded microprocessor and the control performance is verified via experiment on the developed exoskeleton robot. The experimental results show that the power consumption of the proposed system is almost 30% less than that of systems with bidirectional hydraulic system.https://ieeexplore.ieee.org/document/8984320/Leg exoskeletonrobust repetitive learninghybrid hydraulic systemenergy saving |
| spellingShingle | Yong Yang Xiucheng Dong Xia Liu Deqing Huang Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System IEEE Access Leg exoskeleton robust repetitive learning hybrid hydraulic system energy saving |
| title | Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System |
| title_full | Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System |
| title_fullStr | Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System |
| title_full_unstemmed | Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System |
| title_short | Robust Repetitive Learning-Based Trajectory Tracking Control for a Leg Exoskeleton Driven by Hybrid Hydraulic System |
| title_sort | robust repetitive learning based trajectory tracking control for a leg exoskeleton driven by hybrid hydraulic system |
| topic | Leg exoskeleton robust repetitive learning hybrid hydraulic system energy saving |
| url | https://ieeexplore.ieee.org/document/8984320/ |
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