| Issue |
MATEC Web Conf.
Volume 267, 2019
2018 2nd AASRI International Conference on Intelligent Systems and Control (ISC 2018)
|
|
|---|---|---|
| Article Number | 02009 | |
| Number of page(s) | 5 | |
| Section | Computer Science and Information Engineering | |
| DOI | https://doi.org/10.1051/matecconf/201926702009 | |
| Published online | 11 February 2019 | |
Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis
1
Department of Robot Engineering, Chongqing University of Arts and Sciences, Yongchuan, Chongqing 402160 China
2
Department of Automation, Shanxi University, Taiyuan, Shanxi 030006 China
a Corresponding author: qfu@cqwu.net
Aiming at the motion track controlling of the semi-active magnetorheological damper based above-knee prosthesis (MRAKP), according to the LaSalle’s invariant set theorem, a kind of nonlinear compute torque (NCT) control law for the track controlling of the AKMR, is proposed to promote the robustness and performance of the intelligent above-knee prosthesis. The proposed NCT controller includes the feedforward control and the feedback control. The former one is used to compensate the nonlinear terms in the dynamic model of the MRAKP, such as the Coriolis force, the centripetal force, and the gravity. The feedback control, utilizing a nonlinear PD controller, adaptively adjusts the control gain coefficients and reduces the system error. On these bases, numerical simulations on the MRAKPare carried out to analyze the performance of the proposed NCT controller in ADAMS and simulink. For comparing, the track controlling performance of the PD controller and the CT+PD controller are also presented in the paper. Simulation results indicate that the proposed NCT controller for the MRAKP is able to adaptively adjust the control gain coefficients with lower track error and higher robustness than the conventional PD controller and the CT+PD controller.
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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