Leader–follower Stackelberg game oriented adaptive robust constraint-following control design for fuzzy exoskeleton robot systems

Abstract

To comprehensively enhance the robust tracking performance, a leader–follower Stackelberg game oriented adaptive robust constraint-following control scheme has been proposed for a class of uncertain mechanical systems. In the proposed scheme, a fuzzy set-theoretic description represents the uncertainties (possibly fast time-varying), and an adaptive robust constraint-following control ensures the robust stability. With the fuzzy uncertainty description and control performance analysis, a leader–follower game theory is employed to obtain multiple optimal gains for the proposed control scheme. Further, the existence of these optimal parameters can be verified. The proposed approach is successfully applied to a lower limb exoskeleton (LLE) robot system for rehabilitation training.