The Active Above-Knee Prosthesis Gait Control Based on the EMPC
On-line optimization control has been recognized as a superior algorithm for constrained systems.To deal with various disturbances and serious nonlinearity,active above-knee prosthesis(AKP)is treated as constrained switching system in this paper.The kinetic characters of AKP were analyzed when an amputee was walking on level-ground.A piecewise affine model can be built,and the AKP system was divided into 15 subsystems.Explicit model predictive control algorithm was applied to switch between subsystems.State-space partitions and explicit control laws are calculated off-line.On-line control signal can be obtained by looking up table.This algorithm can make the prosthesis to track the flexion curve of health limb accurately.Finally,results are shown that this method can tune the control impedance for powered knee prostheses with less energy consumption and high operation speed.
Active above-knee prosthesis Piecewise affine model Explicit model predictive control Prosthesis control
Yan Zhang Yongchang Zhang Lingling Chen Bokai Xuan
School of Control Science and Engineering,Hebei University of Technology,300130 TJ,no.8 Guangrong Road,Hong Qiao,Tianjin,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
395-403
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）