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A generalized model predictive control method for series elastic actuator driven exoskeleton robots.
- Source :
-
Computers & Electrical Engineering . Sep2021, Vol. 94, pN.PAG-N.PAG. 1p. - Publication Year :
- 2021
-
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. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ROBOTIC exoskeletons
*ACTUATORS
*PREDICTION models
*CLOSED loop systems
Subjects
Details
- Language :
- English
- ISSN :
- 00457906
- Volume :
- 94
- Database :
- Academic Search Index
- Journal :
- Computers & Electrical Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 152347975
- Full Text :
- https://doi.org/10.1016/j.compeleceng.2021.107328