An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control  

作　　者：Yongbai Liu Keping Liu Gang Wang Jiliang Zhang Yao Chou Zhongbo Sun 

机构地区：[1]Department of Mechanical Engineering,Changchun University of Technology,Changchun,China [2]Department of Control Engineering,Changchun University of Technology,Changchun,China [3]School of Electrical and Information Engineering,Jilin Engineering Normal University,Changchun,China [4]College of Information Science and Engineering,Northeastern University,Shenyang,China [5]Department of Electrical and Computer Engineering,Brigham Young University,Provo,Utah,USA

出　　处：《CAAI Transactions on Intelligence Technology》2024年第2期511-525,共15页智能技术学报（英文）

基　　金：Key Science and Technology Projects of Jilin Province,China,Grant/Award Number:20230204081YY;Changchun Science and Technology Project,Grant/Award Number:21ZY41;National Natural Science Foundation of China,Grant/Award Numbers:61873304,62173048,62106023。

摘　　要：In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ameliorated.Specially,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be addressed.To deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI control.The upper limb-robotic exoskeleton system is re-modelled as an artificial system.Depending on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical system.Furthermore,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and compared.Theoretical results substantiate the global convergence and robustness of the proposed controller in the presence of different external disturbances.In addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关 键 词：neural network pattern recognition ROBOTICS signal processing 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]