Adaptive Motion Control of Nonholonomic Intelligent Walker-Human Systems

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• 作者：Halit Zengin ^{hzengin@uwaterloo.ca" class="auth_mail" title="E-mail the corresponding author} ; Nursefa Zengin ^{nyarbasi@uwaterloo.ca" class="auth_mail" title="E-mail the corresponding author}
• 关键词：adaptive control ; physical human-walker interaction ; least squares based parameter identifier ; nonholonomic i-walker ; feedback linearization ; high gain observer
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：13
• 页码：312-317
• 全文大小：779 K

文摘

This paper focuses on motion control of active intelligent walkers robust to system parameter variations and uncertainties. It presents a new realistic control-oriented model and, based on this model, an adaptive motion control design to generate appropriate torques to keep the i-walker in front of the user at the desired distance. Our control design utilizes inverse kinematics equations derived from a two-body kinematic model and to adaptively generate the reference velocities for maintaining ideal relative position of i-walker with respect to the user. The torques to track the reference velocities are generated using an adaptive proportional-integral-derivative control scheme, which is robust to unknown torque disturbances, combined with a computed torque based feedback linearization unit and a high gain observer to estimate the wheel velocities. The designed control scheme is formally analyzed and simulation tested for both symmetric and asymmetric gait patterns.