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	Adaptive Fuzzy Tracking Control of a Human Limb With an Exoskeleton
	Yongsheng Ou; Zhijun Li; Guanglin Li; Chun-Yi Su
	2012
会议名称	2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)
会议地点	中国
英文摘要	In this paper, the objective is to develop a lower limb exoskeleton to produce a knee position trajectory that will enable a human shank to track any continuous desired trajectory (or constant setpoint). Given a desired trajectory of knee position, Lyapunov-based adaptive fuzzy control is developed to control the human quadriceps femoris muscle undergoing nonisometric contractions. The developed controller through the use of an integral Lyapunov function does not require a muscle model and can be proven to yield asymptotic stability for a nonlinear muscle model and an exoskeleton model in the presence of bounded nonlinear disturbances (e.g., spasticity, fatigue). The controller singularity problem is elegantly solved as it avoids the nonlinear parametrization from entering into the adaptive control and learning control. The performance of the controller is demonstrated through closed-loop experiments on human subjects. The experiments illustrate the ability of the exoskeleton to enable the leg shank to track single and multiple period trajectories with different periods and ranges of motion.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3897]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Yongsheng Ou,Zhijun Li,Guanglin Li,et al. Adaptive Fuzzy Tracking Control of a Human Limb With an Exoskeleton[C]. 见:2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012). 中国.

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