Robust tracking control design with a novel leakage-type adaptive mechanism for an uncertain lower limb exoskeleton robot

摘要

In this paper, a novel adaptive robust control approach has been proposed for a class of uncertain mechanical systems. First, aiming for the unknown uncertainties which may be fast time-varying, a novel adaptive mechanism in leakage-type will be developed. Unlike the prevalent adaptive methods, this adaptive mechanism put forward mainly accounts for estimating all the lumped uncertainty terms, and does not require any information of uncertainties other than they are bounded; Second, through transforming the gait following assignment to the constraint control, an adaptive robust constraint-following controller constructed will render the constraints uniformly bounded and uniformly ultimately bounded. To testify the efficacy of proposed approach, a lower limb exoskeleton robot is considered as an illustrative example, the simulations indicate that the proposed control can indeed improve the level of passive rehabilitation training.