A generalized model predictive control method for series elastic actuator driven exoskeleton robots. (September 2021)

• Record Type: Journal Article
• Authors: Li, Shenghui; Shi, Ying; Hu, Linna; Sun, Zhenxing
• Is Part Of: Computers & electrical engineering. Volume 94(2021)
• Publication Date: 2021-09
• Subjects: Series elastic actuator -- Exoskeleton robots -- Generalized model predictive control (GPC); Computer engineering -- Periodicals; Electrical engineering -- Periodicals; Electrical engineering -- Data processing -- Periodicals; Ordinateurs -- Conception et construction -- Périodiques; Électrotechnique -- Périodiques; Électrotechnique -- Informatique -- Périodiques; Computer engineering; Electrical engineering; Electrical engineering -- Data processing; Periodicals; Electronic journals; 621.302854
• DOI: 10.1016/j.compeleceng.2021.107328
• Languages: English
• ISSNs: 0045-7906

Abstract

Abstract: In order to optimize the control performance of the compliant actuator system, a generalized predictive control (GPC) method is introduced in the controller design. Compared with conventional predictive control methods which largely depend on the modeling, the proposed GPC method is almost model-free. The stability of closed-loop system has been rigidly proved. Various experimental tests of a series elastic actuator driven exoskeleton robot are verified the effectiveness of the proposed methods.