Α-Variable adaptive model free control of iReHave upper-limb exoskeleton. (October 2020) - Wang, Haoping
Hightlights: This paper introduces a new α-variable Adaptive MFC (α-AMFC) based on time-delay estimation. The advantage of α-AMFC is a quite simple structure and easily to be regulated. A 7-DOF upper-limb exoskeleton is designed and the control approach is validated based on its virtual prototype. The control objective is to increase the performance of exoskeleton robot. A comparison with iPID, classic PID was conducted in Co-Simulation platform to demonstrate the effectiveness of the α-AMFC. Abstract: In order to provide the rehabilitation training for patients with impaired upper limb motor function, this article proposes an α-variable adaptive model free control (α-AMFC) for a 7-DOF upper limb exoskeleton which is denoted as iReHave and designed based on SolidWorks. The referred α-AMFC is developed based on a time-delay estimation based intelligent PID control (TDE-iPID) and an α online adaptive estimation law. The latter is integrated to enhance the performance of the TDE-iPID which is based on an ultra-local model, time-delay estimation and PID controller. Finally, to demonstrate the performance of the proposed α-AMFC on the iReHave 7-DOF upper limb exoskeleton, co-simulation results with comparisons to PID and TDE-iPID controller are given.