Carrying Robot System Control Based on Neural Network

被引：0

作者：

Yang Xiuxia ^{[1
]}

Yi Zhang ^{[1
]}

Yang Zhiyong ^{[1
]}

Gu Wenjin ^{[1
]}

机构：

[1] Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai 264001, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 5 | 2008年

关键词：

Lower Extreme Carrying Exoskeleton robot; Virtual Torque Control; Neural Network; Dynamic Mathematics Model Study; Feedforward Study Controller;

D O I：

10.1109/CHICC.2008.4605847

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The virtual torque control is a relative effective control law for the lower extremity carrying exoskeleton robot, which needs no direct measurements from the pilot or the human-machine interface,but it needs the exact mass properties and its PD controllor is not applicable for the serious nonlinear system. To overcome these defaults, the virtual prototyping software ADAMS is introduced to model the exoskeleton and the model is also used to the neural network(NN) dynamic mathematics model study. At the same time, the NN is used to the dynamic feedforward controller to compensate the human-machine interaction force. Theoretical analyse and simulation results test the feasibility and validity of this control method.

引用

页码：495 / 499

页数：5

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