基于人工免疫算法的滚动优化在康复机器人中的应用研究  

Application of the Rolling Optimization Based on Artificial Immune Algorithm to Rehabilitation Robot

作　　者：朱雪枫 王建辉[1] 王晓峰[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110819

出　　处：《信息与控制》2017年第3期335-341,共7页Information and Control

基　　金：国家自然科学基金资助项目(61102124);国家自然科学基金青年基金资助项目(61503070);辽宁省基金博士启动项目(201501142)

摘　　要：针对上肢康复机器人主动康复训练过程中,存在不可预知的人机交互作用力和不确定的患者痉挛扰动问题,通过实时采集人机交互力,设计一种非线性滚动时域跟踪控制算法,并对该控制器的稳定性进行了分析.该控制器基于上肢康复机器人系统在每个采样时刻的线性化模型预测系统未来的动态,以人工免疫优化算法为滚动优化策略,不仅提高了系统的抗干扰性能,而且保证了系统在整个预测时域上能得到可行解.仿真研究表明了该控制器的有效性.In the process of active rehabilitation training for an upper limb rehabilitation robot,unpredictable interaction forces exist between human and robot,and the disturbance of patients' spasm is an issue. To address these problems,this paper designed a nonlinear rolling horizon tracking control algorithm based on real-time acquisition of human-robot interaction force. The stability of the controller is analyzed; this controller can predict the future dynamic of the system on the basis of a linear model at each sampling. The artificial immune optimization algorithm is adopted as a rolling optimization strategy,which not only improves the anti-jamming performance of the system but also ensures that the system can obtain a feasible solution in the entire prediction time domain. Simulation results show the effectiveness of the proposed controller.

关 键 词：康复机器人主动康复训练滚动时域控制滚动优化人工免疫算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]