Abstract

This paper presents a novel control scheme for trajectory tracking of valve-controlled electro-hydraulic actuators in lower limb load exoskeleton. First, the mathematical model of the electro-hydraulic system is developed in a strictly feedback form, where constant unknown mass and periodic unknown equivalent force acted on the electro-hydraulic actuator are involved. Then, under the framework of backstepping design, a controller consisting of an adaptive robust control and a repetitive learning control is proposed to learn the unknowns, respectively. The tracking convergence of the closed-loop system is proved rigorously in a Lyapunov way. Finally, the control performance of the proposed controller is verified via simuatlion.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.