Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton  

作　　者：Yibo Han Hongtao Ma Yapeng Wang Di Shi Yanggang Feng Xianzhong Li Yanjun Shi Xilun Ding Wuxiang Zhang 

机构地区：[1]School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China [2]Beihang Goer(WeiFang)Intelligent Robot Co.,Ltd.,Beihang University,Weifang,China [3]Research Center of Satellite Technology,Harbin Institute of Technology,Harbin,China [4]Beijing Xinfeng Aerospace Equipment Co.,Ltd,Beijing,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第2期83-99,共17页中国机械工程学报（英文版）

基　　金：Supported by National Key R&D Program of China(Grant No.2022YFB4701200);National Natural Science Foundation of China(NSFC)(Grant Nos.T2121003,52205004).

摘　　要：The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings.Complex modeling errors of the exoskeleton in different application scenarios pose challenges to the robustness and stability of its control algorithm.The Radial Basis Function(RBF)neural network is used widely to compensate for modeling errors.In order to solve the problem that the current RBF neural network controllers cannot guarantee the asymptotic stability,a neural network robust control algorithm based on computed torque method is proposed in this paper,focusing on trajectory tracking.It innovatively incorporates the robust adaptive term while introducing the RBF neural network term,improving the compensation ability for modeling errors.The stability of the algorithm is proved by Lyapunov method,and the effectiveness of the robust adaptive term is verified by the simulation.Experiments wearing the exoskeleton under different walking speeds and scenarios were carried out,and the results show that the absolute value of tracking errors of the hip and knee joints of the exoskeleton are consistently less than 1.5°and 2.5°,respectively.The proposed control algorithm effectively compensates for modeling errors and exhibits high robustness.

关 键 词：Lower limb exoskeleton Model compensation RBF neural network Computed torque method 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH77[自动化与计算机技术—控制科学与工程]