Adaptive Robust Control of 5 DOF Upper-limb Exoskeleton Robot

作者：Kang Hao Bo^*; Wang Jian Hui

来源：International Journal of Control Automation and Systems, 2015, 13(3): 733-741.

DOI：10.1007/s12555-013-0389-x

• Adaptive control
• observer-based control
• robotics
• robust control

This paper deals with the problem of robust output feedback control for a class of 5DOF upper-limb exoskeleton robot. It is able to assist with shoulder, elbow and wrist joint movements. Robustness is assured for the proposed controller in the presence of model uncertainties. Ultimate boundedness is proved for the presented adaptive observer-based controller. The other advantage of the proposed method is that the implemented information for feedback is only the measurement of position. The estimation of velocity and acceleration is provided by an adaptive observer without additional sensors. By utilizing a novel adaptive logic-based switching control scheme, a trajectory tracking performance is well achieved with a tunable error bound. The simulation example also verifies the effectiveness of the proposed control scheme.

• 出版日期2015-6
• 单位东北大学