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基于自适应动态规划的下肢外骨骼跟踪控制

Tracking Control for a Lower Extremity Exoskeleton Based on Adaptive Dynamic Programing.

作者信息

Su Qiying, Pei Zhongcai, Tang Zhiyong

机构信息

School of Automation Science and Electrical Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China.

出版信息

Biomimetics (Basel). 2023 Aug 9;8(4):353. doi: 10.3390/biomimetics8040353.

DOI:10.3390/biomimetics8040353
PMID:37622958
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10452450/
Abstract

The utilization of lower extremity exoskeletons has witnessed a growing presence across diverse domains such as the military, medical treatment, and rehabilitation. This paper introduces a novel design of a lower extremity exoskeleton specifically tailored for individuals engaged in heavy object carrying tasks. The exoskeleton incorporates an impressive 12 degrees of freedom (DOF), with four of them being effectively controlled through hydraulic cylinders. To achieve optimal control of this intricate lower extremity exoskeleton system, the authors propose an adaptive dynamic programming (ADP) algorithm. Several crucial components are established to implement this control scheme. These include the formulation of the state equation for the lower extremity exoskeleton system, which is well-suited for the ADP algorithm. Additionally, a corresponding performance index function based on the tracking error is devised, along with the game algebraic Riccati equation. By employing the value iteration ADP scheme, the lower extremity exoskeleton demonstrates highly effective tracking control. This research not only highlights the potential of the proposed control approach but also showcases its ability to enhance the overall performance and functionality of lower extremity exoskeletons, particularly in scenarios involving heavy object carrying. Overall, this study contributes to the advancement of lower extremity exoskeleton technology and offers valuable insights into the application of ADP algorithms for achieving precise and efficient control in demanding tasks.

摘要

下肢外骨骼在军事、医疗和康复等不同领域的应用越来越广泛。本文介绍了一种专门为从事重物搬运任务的人员设计的新型下肢外骨骼。该外骨骼具有令人印象深刻的12个自由度（DOF），其中四个由液压缸有效控制。为了实现对这个复杂的下肢外骨骼系统的最优控制，作者提出了一种自适应动态规划（ADP）算法。建立了几个关键组件来实现这种控制方案。这些包括制定适合ADP算法的下肢外骨骼系统状态方程。此外，还设计了基于跟踪误差的相应性能指标函数以及博弈代数黎卡提方程。通过采用值迭代ADP方案，下肢外骨骼展示了高效的跟踪控制。这项研究不仅突出了所提出控制方法的潜力，还展示了其增强下肢外骨骼整体性能和功能的能力，特别是在涉及重物搬运的场景中。总体而言，这项研究推动了下肢外骨骼技术的发展，并为ADP算法在要求苛刻的任务中实现精确高效控制的应用提供了有价值的见解。

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