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Finite-time compensation control with dead-zone estimation for a rehabilitative walker considering internal disturbance forces.
Sun, Ping; Shan, Rui; Wang, Shuoyu; Chang, Hongbin.
Afiliación
  • Sun P; School of Artificial Intelligence, Shenyang University of Technology, 110870, PR China. Electronic address: tonglongsun@sut.edu.cn.
  • Shan R; School of Artificial Intelligence, Shenyang University of Technology, 110870, PR China. Electronic address: shanrui@smail.sut.edu.cn.
  • Wang S; Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 7828502, Japan. Electronic address: wang.shuoyu@kochi-tech.ac.jp.
  • Chang H; School of Artificial Intelligence, Shenyang University of Technology, 110870, PR China. Electronic address: Chang.hongbin@sut.edu.cn.
ISA Trans ; 152: 256-268, 2024 Sep.
Article en En | MEDLINE | ID: mdl-39013690
ABSTRACT
This study discusses a finite-time compensation tracking control method for a rehabilitative training walker. The dynamic model with input dead zone was constructed to describe the walker, and a finite-time disturbance forces observation method was proposed based on the impact mechanism on tracking performance. This approach is novel in that the disturbance forces were observed in reverse through their effects on tracking performance, thus successfully obtaining the disturbance forces of the walker. To ensure the practical finite-time stability of the system, the nonlinear finite-time compensation tracking controller with stochastic configuration networks (SCN) dead-zone estimation was built for the rehabilitative walker. Simulation results and comparative analyses confirmed that the proposed compensation control method effectively restrains dead zone and internal disturbance forces.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: ISA Trans Año: 2024 Tipo del documento: Article Pais de publicación: Estados Unidos