Safety predictive control for rehabilitative training walker with simultaneous constraints on position and velocity tracking errors

被引：0

作者：

Sun P. ^{[1
]}

Zhang S. ^{[1
]}

机构：

[1] School of Information Science and Engineering, Shenyang University of Technology, Shenyang

来源：

Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2019年 / 23卷 / 06期

关键词：

Quadratic program; Rehabilitative training walker; Safety predictive control; Tracking errors constraints;

D O I：

10.15938/j.emc.2019.06.014

中图分类号：

学科分类号：

摘要：

A rehabilitative training walker needs to track trajectory which is prescribed by doctors so that it can help rehabilitee train. Considering the safety of rehabilitees, a safety predictive controller is proposed to solve the problem of extensive motion position and velocity tracking errors during training. The ultimate aim is to realize robot's trajectory tracking and velocity tracking simultaneously for arbitrary initial position, and restrict tracing errors within prescribed range in order to increase the safety of the system. The predictive model with incremental control was established by discretizing kinetics model of the rehabilitative training walker. In predictive time-domain, the performance index of trajectory tracking errors was designed and the constraint conditions of tracking errors were structured. The predictive control of satisfying the constraint conditions of tracking errors was obtained by designing auxiliary motion trajectory and solving quadratic program with incremental control. The simulation and experiment results show the feasibility and superiority of the proposed control method with simultaneous constraints on position and velocity tracking errors. © 2019, Harbin University of Science and Technology Publication. All right reserved.

引用

页码：119 / 128

页数：9

共 20 条

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