An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward

Xingming Wu; Ziwen Xu; Jianhua Wang; Jianbin Zhang; Weihai Chen

doi:10.1109/ICIEA51954.2021.9516306

An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward

Xingming Wu
, Ziwen Xu
, Jianhua Wang^*
, Jianbin Zhang
, Weihai Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

An adaptive control method is proposed to resist disturbance while walking with given trajectory. The method contains two parts. The optimal control method of quadratic exponent of linear system is used to avoid random interference caused by unpredicted motion. Considering that the center of gravity (COG) of user varies while walking with lower limb exoskeleton, an estimable systematic disturbance is introduced to the BWS system. And a feedforward control method based on error input is designed to avoid systematic interference. The systematic interference is modeled according to the structure of the leg in lower limb exoskeleton. The complete control approach is the combination of two controllers. Finally, simulations of different control methods have been carried out to prove the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1960-1965
Number of pages	6
ISBN (Electronic)	9781665422482
DOIs	https://doi.org/10.1109/ICIEA51954.2021.9516306
State	Published - 1 Aug 2021
Event	16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 - Chengdu, China Duration: 1 Aug 2021 → 4 Aug 2021

Publication series

Name	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

Conference

Conference	16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021
Country/Territory	China
City	Chengdu
Period	1/08/21 → 4/08/21

Keywords

Body weight support system
disturbance rejection
feedforward control
linear quadratic optimal control
lower limb exoskeleton

Access to Document

10.1109/ICIEA51954.2021.9516306

Cite this

Wu, X., Xu, Z., Wang, J., Zhang, J., & Chen, W. (2021). An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward. In Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 (pp. 1960-1965). (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA51954.2021.9516306

Wu, Xingming ; Xu, Ziwen ; Wang, Jianhua et al. / An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward. Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 1960-1965 (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021).

@inproceedings{c2a30737377249b3a22259a0774961fd,

title = "An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward",

abstract = "An adaptive control method is proposed to resist disturbance while walking with given trajectory. The method contains two parts. The optimal control method of quadratic exponent of linear system is used to avoid random interference caused by unpredicted motion. Considering that the center of gravity (COG) of user varies while walking with lower limb exoskeleton, an estimable systematic disturbance is introduced to the BWS system. And a feedforward control method based on error input is designed to avoid systematic interference. The systematic interference is modeled according to the structure of the leg in lower limb exoskeleton. The complete control approach is the combination of two controllers. Finally, simulations of different control methods have been carried out to prove the effectiveness of the proposed method.",

keywords = "Body weight support system, disturbance rejection, feedforward control, linear quadratic optimal control, lower limb exoskeleton",

author = "Xingming Wu and Ziwen Xu and Jianhua Wang and Jianbin Zhang and Weihai Chen",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021 ; Conference date: 01-08-2021 Through 04-08-2021",

year = "2021",

month = aug,

day = "1",

doi = "10.1109/ICIEA51954.2021.9516306",

language = "英语",

series = "Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1960--1965",

booktitle = "Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021",

address = "美国",

}

Wu, X, Xu, Z, Wang, J, Zhang, J & Chen, W 2021, An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward. in Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1960-1965, 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021, Chengdu, China, 1/08/21. https://doi.org/10.1109/ICIEA51954.2021.9516306

An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward. / Wu, Xingming; Xu, Ziwen; Wang, Jianhua et al.
Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1960-1965 (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward

AU - Wu, Xingming

AU - Xu, Ziwen

AU - Wang, Jianhua

AU - Zhang, Jianbin

AU - Chen, Weihai

PY - 2021/8/1

Y1 - 2021/8/1

N2 - An adaptive control method is proposed to resist disturbance while walking with given trajectory. The method contains two parts. The optimal control method of quadratic exponent of linear system is used to avoid random interference caused by unpredicted motion. Considering that the center of gravity (COG) of user varies while walking with lower limb exoskeleton, an estimable systematic disturbance is introduced to the BWS system. And a feedforward control method based on error input is designed to avoid systematic interference. The systematic interference is modeled according to the structure of the leg in lower limb exoskeleton. The complete control approach is the combination of two controllers. Finally, simulations of different control methods have been carried out to prove the effectiveness of the proposed method.

AB - An adaptive control method is proposed to resist disturbance while walking with given trajectory. The method contains two parts. The optimal control method of quadratic exponent of linear system is used to avoid random interference caused by unpredicted motion. Considering that the center of gravity (COG) of user varies while walking with lower limb exoskeleton, an estimable systematic disturbance is introduced to the BWS system. And a feedforward control method based on error input is designed to avoid systematic interference. The systematic interference is modeled according to the structure of the leg in lower limb exoskeleton. The complete control approach is the combination of two controllers. Finally, simulations of different control methods have been carried out to prove the effectiveness of the proposed method.

KW - Body weight support system

KW - disturbance rejection

KW - feedforward control

KW - linear quadratic optimal control

KW - lower limb exoskeleton

UR - https://www.scopus.com/pages/publications/85115446841

U2 - 10.1109/ICIEA51954.2021.9516306

DO - 10.1109/ICIEA51954.2021.9516306

M3 - 会议稿件

AN - SCOPUS:85115446841

T3 - Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

SP - 1960

EP - 1965

BT - Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021

Y2 - 1 August 2021 through 4 August 2021

ER -

Wu X, Xu Z, Wang J, Zhang J, Chen W. An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward. In Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 1960-1965. (Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021). doi: 10.1109/ICIEA51954.2021.9516306

An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this