Experimental Study on Adaptive Iterative Control for Lower Limb Prostheses

摘要：

　　In order to adapt to the personalized parameters and to the change of tempo in users lower limb prosthesis,taking these factors such as nonlinear model and parameter uncertainty of human prosthetic system into consideration,adaptive iterative learning controller has been designed to implement imputation control on it.First,the dynamic model of lower limb prosthesis is created.Then,adaptive iterative learning controller is designed to implement imputation control on it,using Lyapunov function method to prove the stability and convergence of tracking error.Finally,the knee trajectory simulation results are obtained.The final results show that the designed controller has excellent tracking results on the lower limb prosthetic knee.

关键词： Lower limb prosthetic Kinetic model Iterative learning adaptive control Trajectory tracking

作者: Yu-liang Ma Xiao-hui Ding Ming Meng Qing-shan She

作者单位: Institute of Intelligent Control and Robotics,Hangzhou Dianzi University,Hangzhou 310018,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 443-453

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）