A generalized model predictive control method for series elastic actuator driven exoskeleton robots

In order to optimize the control performance of the compliant actuator system, a generalized predictive control (GPC) method is introduced in the controller design. Compared with conventional predictive control methods which largely depend on the modeling, the proposed GPC method is almost model-fre...

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Bibliographic Details
Published inComputers & electrical engineering Vol. 94; p. 107328
Main Authors Li, Shenghui, Shi, Ying, Hu, Linna, Sun, Zhenxing
Format Journal Article
LanguageEnglish
Published Amsterdam Elsevier Ltd 01.09.2021
Elsevier BV
Subjects
Actuators
Control methods
Control systems design
Exoskeleton robots
Exoskeletons
Feedback control
Generalized model predictive control (GPC)
Modulus of elasticity
Predictive control
Robots
Series elastic actuator
Series elastic actuator
Exoskeleton robots
Generalized model predictive control (GPC)
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Summary:In order to optimize the control performance of the compliant actuator system, a generalized predictive control (GPC) method is introduced in the controller design. Compared with conventional predictive control methods which largely depend on the modeling, the proposed GPC method is almost model-free. The stability of closed-loop system has been rigidly proved. Various experimental tests of a series elastic actuator driven exoskeleton robot are verified the effectiveness of the proposed methods.
ISSN:0045-7906
1879-0755
DOI:10.1016/j.compeleceng.2021.107328