Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton

doi:10.1109/JAS.2020.1003351

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton
	Yu Cao; Jian Huang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:6 页码:1478-1488
摘要	Pneumatic muscle actuators (PMAs) are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries, such as strokes, spinal cord injuries, etc., to accomplish rehabilitation tasks. However, because PMAs have nonlinearities, hysteresis, and uncertainties, etc., complex mechanisms are rarely involved in the study of PMA-driven robotic systems. In this paper, we use nonlinear model predictive control (NMPC) and an extension of the echo state network called an echo state Gaussian process (ESGP) to design a tracking controller for a PMA-driven lower limb exoskeleton. The dynamics of the system include the PMA actuation and mechanism of the leg orthoses; thus, the system is represented by two nonlinear uncertain subsystems. To facilitate the design of the controller, joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP. A gradient descent algorithm is employed to solve the optimization problem and generate the control signal. The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics. Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.
关键词	Echo state Gaussian process model predictive control neural network pneumatic muscle actuators-driven exoskeleton
DOI	10.1109/JAS.2020.1003351
引用统计	被引频次：42[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43050
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yu Cao,Jian Huang. Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(6):1478-1488.
APA	Yu Cao,&Jian Huang.(2020).Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton.IEEE/CAA Journal of Automatica Sinica,7(6),1478-1488.
MLA	Yu Cao,et al."Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic Muscle Actuator-Driven Exoskeleton".IEEE/CAA Journal of Automatica Sinica 7.6(2020):1478-1488.

条目包含的文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
JAS-2020-0234.pdf（9613KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览