Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot...

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Autores principales:	Zhirui Zhao, Jichun Xiao, Hongyun Jia, Hang Zhang, Lina Hao
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	upper-limb exoskeleton model-free adaptive control prescribed performance passive rehabilitation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/0875eeb1e47e487d83854b8c9d972587
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id	oai:doaj.org-article:0875eeb1e47e487d83854b8c9d972587
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spelling	oai:doaj.org-article:0875eeb1e47e487d83854b8c9d9725872021-11-11T15:14:11ZPrescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks10.3390/app1121101742076-3417https://doaj.org/article/0875eeb1e47e487d83854b8c9d9725872021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10174https://doaj.org/toc/2076-3417In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot-assisted rehabilitation. The proposed method is capable of addressing the defect of the initial error in the controller design and the application by adopting a tuning function, as compared with other prescribed performance methods. Moreover, the method developed here was not determined by the dynamic model parameters, which merely exploit the input and output data. Theoretically, the stability exhibited by the proposed controller and the tracking performance can be demonstrated. From the experimental results, the root mean square of the tracking error is equal to 1.06 degrees, and the steady-state tracking error converges to 1.91 degrees. These results can verify the expected performance of the developed control method.Zhirui ZhaoJichun XiaoHongyun JiaHang ZhangLina HaoMDPI AGarticleupper-limb exoskeletonmodel-free adaptive controlprescribed performancepassive rehabilitationTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10174, p 10174 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	upper-limb exoskeleton model-free adaptive control prescribed performance passive rehabilitation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	upper-limb exoskeleton model-free adaptive control prescribed performance passive rehabilitation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
description	In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot-assisted rehabilitation. The proposed method is capable of addressing the defect of the initial error in the controller design and the application by adopting a tuning function, as compared with other prescribed performance methods. Moreover, the method developed here was not determined by the dynamic model parameters, which merely exploit the input and output data. Theoretically, the stability exhibited by the proposed controller and the tracking performance can be demonstrated. From the experimental results, the root mean square of the tracking error is equal to 1.06 degrees, and the steady-state tracking error converges to 1.91 degrees. These results can verify the expected performance of the developed control method.
format	article
author	Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao
author_facet	Zhirui Zhao Jichun Xiao Hongyun Jia Hang Zhang Lina Hao
author_sort	Zhirui Zhao
title	Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
title_short	Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
title_full	Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
title_fullStr	Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
title_full_unstemmed	Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks
title_sort	prescribed performance control for the upper-limb exoskeleton system in passive rehabilitation training tasks
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/0875eeb1e47e487d83854b8c9d972587
work_keys_str_mv	AT zhiruizhao prescribedperformancecontrolfortheupperlimbexoskeletonsysteminpassiverehabilitationtrainingtasks AT jichunxiao prescribedperformancecontrolfortheupperlimbexoskeletonsysteminpassiverehabilitationtrainingtasks AT hongyunjia prescribedperformancecontrolfortheupperlimbexoskeletonsysteminpassiverehabilitationtrainingtasks AT hangzhang prescribedperformancecontrolfortheupperlimbexoskeletonsysteminpassiverehabilitationtrainingtasks AT linahao prescribedperformancecontrolfortheupperlimbexoskeletonsysteminpassiverehabilitationtrainingtasks
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Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

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