Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot

作     者：JALAEIAN-F.Mohsen FATEH Mohammad Mehdi RAHIMIYAN Morteza JALAEIAN-F.Mohsen;FATEH Mohammad Mehdi;RAHIMIYAN Morteza

作者机构：Department of Electrical and Robotic EngineeringShahrood University of TechnologyShahroodIran 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2020年第33卷第5期

页      面：1310-1329页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Impedance control lower limb rehabilitation robots model predictive compensator optimal predictive impedance controller optimization in the presence of uncertainty 

摘      要：As an innovative concept,an optimal predictive impedance controlle is introduced here to control a lower limb rehabilitation robo in the presence of *** desired impedance law is considered to propose a conventional model-based impedance controller for the ***,external disturbances,model imperfection,and parameters uncertainties reduce the performance of the controller in *** order to cope with these uncertainties,an optimal predictive compensator is introduced as a solution for a proposed convex optimization problem,which is performed on a forward finite-length *** a result,the LLRR has the desired behavior even in an uncertain *** performance and efficiency of the proposed controller are verified by the simulation results.