Journal of Vibration and Control,
Год журнала:
2022,
Номер
29(11-12), С. 2681 - 2695
Опубликована: Апрель 7, 2022
In
this
paper,
a
novel
adaptive
robust
control
approach
has
been
proposed
for
class
of
uncertain
mechanical
systems.
First,
aiming
the
unknown
uncertainties
which
may
be
fast
time-varying,
mechanism
in
leakage-type
will
developed.
Unlike
prevalent
methods,
put
forward
mainly
accounts
estimating
all
lumped
uncertainty
terms,
and
does
not
require
any
information
other
than
they
are
bounded;
Second,
through
transforming
gait
following
assignment
to
constraint
control,
an
constraint-following
controller
constructed
render
constraints
uniformly
bounded
ultimately
bounded.
To
testify
efficacy
approach,
lower
limb
exoskeleton
robot
is
considered
as
illustrative
example,
simulations
indicate
that
can
indeed
improve
level
passive
rehabilitation
training.
IEEE Sensors Journal,
Год журнала:
2024,
Номер
24(5), С. 5759 - 5784
Опубликована: Янв. 17, 2024
The
interactive
control
of
lower
limb
exoskeleton
robots
(LLERs)
is
important
to
achieve
compliance
and
safety.
Significant
challenges
in
the
LLERs
include
how
accurately
recognize
human
motion
intention,
environment,
natural,
stable,
accurate
accordance
with
intention
environment.
This
article
presents
a
detailed
classification
recognition,
based
on
LLER's
environment
summarizes
methodologies
each
category.
In
addition,
advantages
disadvantages
are
analyzed
from
macroscopic
perspective,
current
trends
discussed.
Finally,
this
explores
which
requirements
should
be
met
future
LLER
applications
improve
naturalness,
stability,
accuracy
control.
Machines,
Год журнала:
2023,
Номер
11(7), С. 764 - 764
Опубликована: Июль 22, 2023
Over
the
last
decade,
lower
limb
exoskeletons
have
seen
significant
development,
with
a
particular
focus
on
improving
interaction
between
subject
and
exoskeleton.
This
has
been
achieved
by
implementing
advanced
control
strategies
that
enable
safe
efficient
use
of
In
this
work,
for
are
divided
into
upper-level
(supervisory
high-level
control)
lower-level
(the
servo
layer).
Before
discussing
these
strategies,
brief
introduction
to
their
schemes
is
provided.
The
hierarchy
then
systematically
reviewed
along
an
overview
techniques
used.
A
Preferred
Reporting
Items
Systematic
Reviews
Meta-Analysis
(PRISMA)
statement
used
highlight
systematic
process
identifying
relevant
articles
inclusion
exclusion
criteria.
details
supervisory
control,
presented
citing
state-of-the-art
studies,
particularly
from
past
five
years.
targeted
joint,
training
mode,
development
stage
different
highlighted
in
tabulated
form
articulate
overall
level.
Finally,
potential
opportunities
limitations
subject-cooperative
discussed.
Overall,
work
aims
provide
in-depth
understanding
exoskeletons,
focusing
cooperation.
knowledge
can
be
improve
safety
efficacy
ultimately
benefiting
individuals
mobility
impairments.
IEEE Transactions on Automation Science and Engineering,
Год журнала:
2023,
Номер
21(3), С. 3719 - 3729
Опубликована: Июнь 19, 2023
This
paper
addresses
the
problem
of
event-based
distributed
set-membership
estimation
for
complex
networks
with
unknown
but
bounded
(UBB)
disturbances.
To
reflect
compromised
data
transmissions
in
cyber
security,
deception
attacks
are
taken
into
consideration.
Meanwhile,
a
novel
model
is
proposed
against
UBB
In
order
to
schedule
signal
between
nodes
and
remote
estimators,
decentralized
dynamic
periodic
event-triggered
mechanism
(DPETM)
time-varying
threshold
developed
each
node
networks,
which
reduces
waste
communication
resources
complexity
computation.
Thereafter,
series
estimators
designed,
whose
parameters
explicitly
determined
terms
resolution
particular
linear
matrix
inequality
(LMI)
related
information
topology.
An
optimized
ellipsoid
set
obtained
by
applying
recursive
optimization
algorithm.
Finally,
simulation
results
shown
demonstrate
viability
method.
Note
Practitioners
—This
motivated
state
practical
missions,
such
as
military,
environment,
industry,
etc.
The
provides
reliable
confidence
region
system
node.
Event-triggered
control
an
effective
method
design
estimator.
But
common
require
systems
monitor
measurements
point-to-point,
leads
huge
consumption
calculation
resources.
For
this
reason,
originally
extends
DPETM
discrete-time
version
from
field
continuous-time
systems.
considers
channels,
generic
framework
established
earlier
can
tackle
simultaneously
sector-bounded
nonlinearity,
disturbances,
attacks.
main
difficulty
lies
analysis
sawtooth
constraint
samplings.
difficulty,
we
introduce
piecewise
auxiliary
function,
similar
loop-function
Together
algorithm,
detailed
regions
Journal of Sensor and Actuator Networks,
Год журнала:
2023,
Номер
12(4), С. 53 - 53
Опубликована: Июль 7, 2023
Patients
suffering
from
motor
disorders
or
weakness
resulting
either
serious
spinal
cord
injury
stroke
often
require
rehabilitation
therapy
to
regain
their
mobility.
In
the
lower
limbs,
exoskeletons
have
two
motors
aligned
with
patients’
hip
and
knee
assist
in
exercises
by
supporting
patient’s
body
structure
increase
torques
at
joints.
Assistive
is,
however,
challenging,
as
human
torque
is
unknown
varies
patient
patient.
This
poses
difficulties
determining
level
of
assistance
required
for
a
particular
this
paper,
therefore,
modified
extended
state
observer
(ESO)-based
integral
sliding
mode
(ISM)
controller
(MESOISMC)
lower-limb
exoskeleton
assistive
gait
proposed.
The
ESO
used
estimate
without
application
sensor
while
ISMC
achieve
robust
tracking
preset
joint
angles
considering
estimated
disturbance.
performance
proposed
MESOISMC
was
assessed
using
mean
absolute
error
(MAE).
obtained
results
show
an
85.02%
87.38%
reduction
MAE
angles,
respectively,
when
compared
both
controllers
tuned
via
LMI
optimization.
also
indicate
that
method
effective
efficient
user
comfort
safety
during
training.
