{"title":"Robust Repetitive Learning Control of Lower Limb Exoskeleton with Hybrid Electro-hydraulic System","authors":"Yong Yang, Deqing Huang, Xiucheng Dong","doi":"10.1109/DDCLS.2018.8516005","DOIUrl":null,"url":null,"abstract":"In this paper, robust repetitive learning control for lower limb exoskeleton, CASWELL-II, is addressed. A hybrid electro-hydraulic system which consists of unidirectional servo valve and magnetic valve is presented to driven the exoskeleton leg. First, a full state space model of CASWELL-II is worked out by combining both the rigid body and hybrid electro-hydraulic actuators dynamics. Secondly, a robust repetitive learning controller is presented to perform the periodic tracking task of the hybrid electro-hydraulic actuators via backstepping design, and the stability of the closed-loop system is proved by Lyapunov method. Finally, the controller is realized and tested on CASWELL-II by experiment.","PeriodicalId":6565,"journal":{"name":"2018 IEEE 7th Data Driven Control and Learning Systems Conference (DDCLS)","volume":"26 1","pages":"718-723"},"PeriodicalIF":0.0000,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE 7th Data Driven Control and Learning Systems Conference (DDCLS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DDCLS.2018.8516005","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
In this paper, robust repetitive learning control for lower limb exoskeleton, CASWELL-II, is addressed. A hybrid electro-hydraulic system which consists of unidirectional servo valve and magnetic valve is presented to driven the exoskeleton leg. First, a full state space model of CASWELL-II is worked out by combining both the rigid body and hybrid electro-hydraulic actuators dynamics. Secondly, a robust repetitive learning controller is presented to perform the periodic tracking task of the hybrid electro-hydraulic actuators via backstepping design, and the stability of the closed-loop system is proved by Lyapunov method. Finally, the controller is realized and tested on CASWELL-II by experiment.
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