Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm  

作　　者：Yan Shi Jiange Kou Zhenlei Chen Yixuan Wang Qing Guo 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China [2]School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chengdu 611731,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第2期100-114,共15页中国机械工程学报（英文版）

基　　金：Supported by National Key Research and Development Program of China(Grant No.2022YFF0708903);Ningbo Municipal Key Technology Research and Development Program of China(Grant No.2022Z006);Youth Fund of National Natural Science Foundation of China(Grant No.52205043)。

摘　　要：Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关 键 词：Parameter identification Enhanced whale optimization algorithm(EWOA) BACKSTEPPING Human-robot interaction Lower limb exoskeleton 

分 类 号：TB931[一般工业技术—计量学]