题目：Trajectory Tracking Control of Hydraulic Rehabilitation Exoskeleton Leg with Output Constraint
报告人：杨勇
时间：2019年12月26日上午10:00
地点：6B-304
主讲人和内容简介：
Yong Yang received the B.S. degree of mechatronic engineering in 2011 and M.S. degree of mechanical engineering in 2013, and the Ph.D. degree of control science and engineering in Southwest Jiaotong University in 2017, respectively. He is currently with the School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China. His current research interests include robotics, exoskeleton systems, learning control, adaptive control, and mechatronics system design.
This work addresses the trajectory tracking control of lower limb rehabilitation exoskeleton legdriven by hydraulic actuator with output constraint.A barrier Lyapunov function is utilized to handle the output constraint of the hydraulic actuator.The radial basis functions neural networks are used to approximate the disturbanceand unmodeled uncertainties.Under the effect of the designed control scheme, the output constraint problem is well averted,and the involved signals of the rehabilitation exoskeleton are semi globally bounded.The tracking convergence of the closed-loop system is demonstrated by using mathematical method.The performance of the designed controller is illustrated by numerical simulations.
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