基于T-S模糊模型的下肢关节运动鲁棒跟踪控制  

Robust Tracking Control of Lower Limbs Joint Motion Via T-S Fuzzy Models

作　　者：张巍巍 梁婷[2] 潘俊涛[1] 张白[1] ZHANG Wei-wei;LIANG Ting;PAN Jun-tao;ZHANG Bai(School of Electrical and Information Engineering,North Minzu University,Yinchuan Ningxia 750021,China;General Hospital of Ningxia Medical University,Yinchuan Ningxia 750004,China)

机构地区：[1]北方民族大学电气信息工程学院,宁夏银川750021 [2]宁夏医科大学总医院,宁夏银川750004

出　　处：《计算机仿真》2023年第8期313-319,425,共8页Computer Simulation

基　　金：北方民族大学2019年重点科研项目(2019KJ39);宁夏自然科学基金项目(2019AAC03118);2019年宁夏自治区第四批“宁夏青年科技人才托举工程”人才项目(TJGC2019017);国家自然科学基金项目(52067001)。

摘　　要：功能性电刺激是临床应用中主要的肢体智能康复技术之一,设计控制算法以有效提高关节运动控制精度和控制器的自适应问题一直是该领域的难题。基于T-S模糊模型,针对功能性电刺激下的膝关节的鲁棒跟踪控制,考虑患者个体的差异性,建立了具有参数不确定性的膝关节运动模型;基于Lyapunov稳定性理论,分析得到了鲁棒跟踪控制器存在的线性矩阵不等式条件,在Matlab平台上求得控制器的可行解,通过仿真结果验证了所提方法的有效性。Functional electrical stimulation is one of the intelligent limb rehabilitation techniques in clinical applications.To design the control algorithms to improve the accuracy of joint movement control and the self-adaptation of the controller effectively has always been a difficult problem in this field.Based on the TS fuzzy model,this paper aims at the robust tracking control of the knee joint under functional electrical stimulation.Considering the individual differences of patients,knee joint motion model with parameter uncertainty was established.Based on the Lyapunov stability theory,the linear matrix inequality conditions of the robust tracking controllers were obtained.The feasible solution of the controller was also obtained and the effectiveness of the proposed method was verified by the simulation results on the Matlab platform.

关 键 词：模糊模型 鲁棒跟踪控制 功能性电刺激 线性矩阵不等式 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]