基于神经网络的固定时间约束下外骨骼机器人加速度重构方法

薛涛; 王子威; 张涛; 白鸥; 张萌; 韩斌

doi:10.1631/FITEE.1900418

Your Location：

Home >

Browse articles >

基于神经网络的固定时间约束下外骨骼机器人加速度重构方法

智能无人系统专辑 | Updated：2022-05-19

- 基于神经网络的固定时间约束下外骨骼机器人加速度重构方法
  Enhanced Publication
- Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：705-722
- Affiliations：
  
  Department of Automation, Tsinghua University, Beijing 100084, China
  Department of Electrical and Computer Engineering, Florida International University, Miami 33174, USA
  Move Robotics Technology Co., Ltd., Shanghai 201306, China
  School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
- Author bio：
  
  Tao ZHANG, E-mail: taozhang@tsinghua.edu.cn
- Funds：
  
  Project supported by the Move Robotics Technology Co., Ltd. and the National Natural Science Foundation of China (No. 51705163)
- DOI：10.1631/FITEE.1900418
  中图分类号： TP242
- 纸质出版日期：2020-05，
  
  收稿日期：2019-08-21，
  
  修回日期：2019-04-07，
- Accepted：
Scan QR Code
薛涛, 王子威, 张涛, 等. 基于神经网络的固定时间约束下外骨骼机器人加速度重构方法[J]. 信息与电子工程前沿（英文）, 2020,21(5):705-722.

TAO XUE, ZI-WEI WANG, TAO ZHANG, et al. Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks. [J]. Frontiers of information technology & electronic engineering, 2020, 21(5): 705-722.
薛涛, 王子威, 张涛, 等. 基于神经网络的固定时间约束下外骨骼机器人加速度重构方法[J]. 信息与电子工程前沿（英文）, 2020,21(5):705-722. DOI： 10.1631/FITEE.1900418.

TAO XUE, ZI-WEI WANG, TAO ZHANG, et al. Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks. [J]. Frontiers of information technology & electronic engineering, 2020, 21(5): 705-722. DOI： 10.1631/FITEE.1900418.

摘要

精准的加速度信号采集对机械外骨骼系统十分重要，但其难以通过传感器系统直接测量。现有基于重构算法的加速度获取方法能够保证重构误差的有限时间收敛和扰动抑制，但忽略了误差约束和初始状态无关方法。为解决该问题，提出一种基于新型径向基神经网络的误差约束下的固定时间重构算法，以实现高性能的加速度信号估计。在该算法中，提出一种新型指数型障碍李雅普诺夫函数处理误差约束问题，该函数提供一种统一简洁的李雅普诺夫稳定性证明模板。与此同时，设计一种分数阶滑模控制律，以实现固定时间收敛；为进一步提升系统鲁棒性，使用自适应权重矩阵构建的径向基神经网络近似和消除完全未知的扰动。值得注意的是，该框架下误差的收敛时间与初始状态以及扰动无关，只取决于预设参数，并且重构误差始终位于预定义的界内。数值仿真实验和人体实验结果验证了本文方法的优点以及在实际场景中的鲁棒性。

Abstract

Accurate acceleration acquisition is a critical issue in the robotic exoskeleton system

but it is difficult to directly obtain the acceleration via the existing sensing systems. The existing algorithm-based acceleration acquisition methods put more attention on finite-time convergence and disturbance suppression but ignore the error constraint and initial state irrelevant techniques. To this end

a novel radical bias function neural network (RBFNN) based fixed-time reconstruction scheme with error constraints is designed to realize high-performance acceleration estimation. In this scheme

a novel exponential-type barrier Lyapunov function is proposed to handle the error constraints. It also provides a unified and concise Lyapunov stability-proof template for constrained and non-constrained systems. Moreover

a fractional power sliding mode control law is designed to realize fixed-time convergence

where the convergence time is irrelevant to initial states or external disturbance

and depends only on the chosen parameters. To further enhance observer robustness

an RBFNN with the adaptive weight matrix is proposed to approximate and attenuate the completely unknown disturbances. Numerical simulation and human subject experimental results validate the unique properties and practical robustness.

关键词

加速度重构固定时间收敛约束控制障碍李雅普诺夫函数初始状态无关方法外骨骼机器人

Keywords

Acceleration reconstructionFixed-time convergenceConstrained controlBarrier Lyapunov functionInitial state irrelevant techniqueRobotic exoskeleton

references

A Abooee, , , Khorasani M Moravej, , , M Haeri. . Finite time control of robotic manipulators with position output feedback. . Int J Robust Nonl Contr, , 2017. . 27((16):):2982--2999. . DOI:10.1002/rnc.3721http://doi.org/10.1002/rnc.3721..

G Aguirre-Ollinger, , , JE Colgate, , , MA Peshkin, , , 等. . Active-impedance control of a lower-limb assistive exoskeleton. . 10th Int Conf on Rehabilitation Robotics, , 2007. . p.188--195. . DOI:10.1109/icorr.2007.4428426http://doi.org/10.1109/icorr.2007.4428426..

Q Chen, , , H Cheng, , , C Yue, , , 等. . Dynamic balance gait for walking assistance exoskeleton. . Appl Bion Biomech, , 2018. . 20187847014DOI:10.1155/2018/7847014http://doi.org/10.1155/2018/7847014..

S Chen, , , Z Chen, , , B Yao, , , 等. . Adaptive robust cascade force control of 1-DOF hydraulic exoskeleton for human performance augmentation. . IEEE/ASME Trans Mech, , 2017. . 22((2):):589--600. . DOI:10.1109/TMECH.2016.2614987http://doi.org/10.1109/TMECH.2016.2614987..

TY Dong, , , XL Zhang, , , T Liu. . Artificial muscles for wearable assistance and rehabilitation. . Front Inform Technol Electron Eng, , 2018. . 19((11):):1303--1315. . DOI:10.1631/FITEE.1800618http://doi.org/10.1631/FITEE.1800618..

J Fei, , , H Ding. . Adaptive sliding mode control of dynamic system using RBF neural network. . Nonl Dynam, , 2012. . 70((2):):1563--1573. . DOI:10.1007/s11071-012-0556-2http://doi.org/10.1007/s11071-012-0556-2..

S He, , , D Lin. . Reliable spacecraft rendezvous without velocity measurement. . Acta Astron, , 2018. . 14452--60. . DOI:10.1016/j.actaastro.2017.12.016http://doi.org/10.1016/j.actaastro.2017.12.016..

Y He, , , N Li, , , C Wang, , , 等. . Development of a novel autonomous lower extremity exoskeleton robot for walking assistance. . Front Inform Technol Electron Eng, , 2019. . 20((3):):318--329. . DOI:10.1631/FITEE.1800561http://doi.org/10.1631/FITEE.1800561..

CC Hua, , , Y Yang, , , X Guan. . Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay. . Neurocomputing, , 2013. . 113204--212. . DOI:10.1016/j.neucom.2013.01.016http://doi.org/10.1016/j.neucom.2013.01.016..

WG Huo, , , S Mohammed, , , Y Amirat, , , 等. . Active impedance control of a lower limb exoskeleton to assist sit-to-stand movement. . Proc IEEE Int Conf on Robotics and Automation, , 2016. . p.3530--3536. . DOI:10.1109/ICRA.2016.7487534http://doi.org/10.1109/ICRA.2016.7487534..

I Kang, , , H Hsu, , , A Young. . The effect of hip assistance levels on human energetic cost using robotic hip exoskeletons. . IEEE Robot Autom Lett, , 2019. . 4((2):):430--437. . DOI:10.1109/LRA.2019.2890896http://doi.org/10.1109/LRA.2019.2890896..

H Kazerooni, , , J Racine, , , LH Huang, , , 等. . On the control of the Berkeley lower extremity exoskeleton (BLEEX). . Proc IEEE Int Conf on Robotics and Automation, , 2005. . p.4353--4360. . DOI:10.1109/ROBOT.2005.1570790http://doi.org/10.1109/ROBOT.2005.1570790..

H Kim, , , YJ Shin, , , J Kim. . Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation. . Mechatronics, , 2017. . 4632--45. . DOI:10.1016/j.mechatronics.2017.06.009http://doi.org/10.1016/j.mechatronics.2017.06.009..

J Kim, , , R Heimgartner, , , G Lee, , , 等. . Autonomous and portable soft exosuit for hip extension assistance with online walking and running detection algorithm. . Proc IEEE Int Con on Robotics and Automation, , 2018. . p.5473--5480. . DOI:10.1109/ICRA.2018.8460474http://doi.org/10.1109/ICRA.2018.8460474..

J Kim, , , G Lee, , , R Heimgartner, , , 等. . Reducing the metabolic rate of walking and running with a versatile, portable exosuit. . Science, , 2019. . 365((6454):):668--672. . DOI:10.1126/science.aav7536http://doi.org/10.1126/science.aav7536..

CH Kuo, , , AP Yudha, , , SK Mohapatra. . Force sensorless compliance control of a lower-limb exoskeleton robot. . Int J Autom Smart Technol, , 2018. . 8((1):):51--60. . DOI:10.5875/ausmt.v8i1.1565http://doi.org/10.5875/ausmt.v8i1.1565..

S Li, , , J Yang, , , WH Chen, , , 等. . Generalized extended state observer based control for systems with mismatched uncertainties. . IEEE Trans Ind Electron, , 2011. . 59((12):):4792--4802. . DOI:10.1109/TIE.2011.2182011http://doi.org/10.1109/TIE.2011.2182011..

Y Long, , , ZJ Du, , , WD Wang, , , 等. . Physical humanrobot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification. . Front Inform Technol Electron Eng, , 2018. . 19((9):):1076--1085. . DOI:10.1631/FITEE.1601667http://doi.org/10.1631/FITEE.1601667..

D Luenberger. . Observers for multivariable systems. . IEEE Trans Autom Contr, , 1966. . 11((2):):190--197. . DOI:10.1109/TAC.1966.1098323http://doi.org/10.1109/TAC.1966.1098323..

U Nagarajan, , , G Aguirre-Ollinger, , , A Goswami. . Integral admittance shaping: a unified framework for active exoskeleton control. . Robot Auton Syst, , 2016. . 75310--324. . DOI:10.1016/j.robot.2015.09.015http://doi.org/10.1016/j.robot.2015.09.015..

A Polyakov. . Nonlinear feedback design for fixed-time stabilization of linear control systems. . IEEE Trans Autom Contr, , 2011. . 57((8):):2106--2110. . DOI:10.1109/TAC.2011.2179869http://doi.org/10.1109/TAC.2011.2179869..

K Seo, , , K Kim, , , YJ Park, , , 等. . Adaptive oscillatorbased control for active lower-limb exoskeleton and its metabolic impact. . Proc IEEE Int Conf on Robotics and Automation, , 2018. . p.6752--6758. . DOI:10.1109/ICRA.2018.8460841http://doi.org/10.1109/ICRA.2018.8460841..

Y Shtessel, , , C Edwards, , , L Fridman, , , 等. . Sliding Mode Control and Observation. . Springer, Berlin, Germany, , 2014. . DOI:10.1007/978-0-8176-4893-0http://doi.org/10.1007/978-0-8176-4893-0..

CP Tan, , , X Yu, , , Z Man. . Terminal sliding mode observers for a class of nonlinear systems. . Automatica, , 2010. . 46((8):):1401--1404. . DOI:10.1016/j.automatica.2010.05.010http://doi.org/10.1016/j.automatica.2010.05.010..

K Tanghe, , , E Aertbeli n, , , J Vantilt, , , 等. . Realtime delayless estimation of derivatives of noisy sensor signals for quasi-cyclic motions with application to joint acceleration estimation on an exoskeleton. . IEEE Robot Autom Lett, , 2018. . 3((3):):1647--1654. . DOI:10.1109/LRA.2018.2801473http://doi.org/10.1109/LRA.2018.2801473..

ZW Wang, , , B Liang, , , XQ Wang. . Chattering-free fixedtime control for bilateral teleoperation system with jittering time delays and state constraints. . IFAC, , 2018. . 51((32):):588--593. . DOI:10.1016/j.ifacol.2018.11.487http://doi.org/10.1016/j.ifacol.2018.11.487..

ZW Wang, , , Z Chen, , , YM Zhang, , , 等. . Adaptive finite-time control for bilateral teleoperation systems with jittering time delays. . Int J Robust Nonl Contr, , 2019a. . 29((4):):1007--1030. . DOI:10.1002/rnc.4423http://doi.org/10.1002/rnc.4423..

ZW Wang, , , Z Chen, , , B Liang. . Fixed-time velocity reconstruction scheme for space teleoperation systems: exp barrier Lyapunov function approach. . Acta Astron, , 2019b. . 15792--101. . DOI:10.1016/j.actaastro.2018.12.018http://doi.org/10.1016/j.actaastro.2018.12.018..

B Xiao, , , S Yin. . Velocity-free fault-tolerant and uncertainty attenuation control for a class of nonlinear systems. . IEEE Trans Ind Electr, , 2016. . 63((7):):4400--4411. . DOI:10.1109/TIE.2016.2532284http://doi.org/10.1109/TIE.2016.2532284..

T Xue, , , Z Wang, , , T Zhang, , , 等. . The control system for flexible hip assistive exoskeleton. . Proc IEEE Int Conf on Robotics and Biomimetics, , 2018. . p.697--702. . DOI:10.1109/ROBIO.2018.8665203http://doi.org/10.1109/ROBIO.2018.8665203..

T Xue, , , Z Wang, , , T Zhang, , , 等. . Adaptive oscillatorbased robust control for flexible hip assistive exoskeleton. . IEEE Robot Autom Lett, , 2019. . 4((4):):3318--3323. . DOI:10.1109/LRA.2019.2926678http://doi.org/10.1109/LRA.2019.2926678..

Y Yang, , , CC Hua, , , JP Li, , , 等. . Finite-time outputfeedback synchronization control for bilateral teleoperation system via neural networks. . Inform Sci, , 2017. . 406216--233. . DOI:10.1016/j.ins.2017.04.034http://doi.org/10.1016/j.ins.2017.04.034..

ZY Yang, , , WJ Gu, , , J Zhang, , , 等. . Force Control Theory and Method of Human Load Carrying Exoskeleton Suit. . Springer, Berlin, Germany, , 2017. . DOI:10.1007/978-3-662-54144-9http://doi.org/10.1007/978-3-662-54144-9..

T Zhang, , , M Tran, , , H Huang. . Admittance shaping-based assistive control of SEA-driven robotic hip exoskeleton. . IEEE/ASME Trans Mech, , 2019. . 24((4):):1508--1519. . DOI:10.1109/TMECH.2019.2916546http://doi.org/10.1109/TMECH.2019.2916546..

Z Zhu, , , Y Xia, , , M Fu. . Attitude stabilization of rigid spacecraft with finite-time convergence. . Int J Robust Nonl Contr, , 2011. . 21((6):):686--702. . DOI:10.1002/rnc.1624http://doi.org/10.1002/rnc.1624..

AB Zoss, , , H Kazerooni, , , A Chu. . Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). . IEEE/ASME Trans Mech, , 2006. . 11((2):):128--138. . DOI:10.1109/TMECH.2006.871087http://doi.org/10.1109/TMECH.2006.871087..

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

Adaptive tracking control for air-breathing hypersonic vehicles with state constraints