Fuzzy approximation-based adaptive backstepping control of an exoskeleton for human upper limbs

IEEE Transactions on Fuzzy Systems

Volumn 23, Issue 3, 2015, Pages 555-566

  Li, Zhijun ^a   Su, Chun Yi ^b   Li, Guanglin ^c   Su, Hang ^a  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b Dept of Electrical and Computer Engineering   (Canada)

^c SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY   (China)

Author keywords

Exoskeleton robot; fuzzy approximation; iterative learning

Indexed keywords

BACKSTEPPING; LYAPUNOV FUNCTIONS; ROBOTS; TRAJECTORIES; UNCERTAINTY ANALYSIS;

ADAPTIVE BACKSTEPPING CONTROL; DESIRED TRAJECTORIES; EXOSKELETON ROBOTS; FUZZY APPROXIMATION; HUMAN-ROBOT SYSTEMS; ITERATIVE LEARNING; LYAPUNOV FUNCTION APPROACHES; PERIODIC DISTURBANCES;

ADAPTIVE CONTROL SYSTEMS;

EID: 84930943638     PISSN: 10636706     EISSN: None     Source Type: Journal    
DOI: 10.1109/TFUZZ.2014.2317511     Document Type: Article

References (41)

1. G. B. Prange, M. J. A. Jannink, C. G. M. Groothuis-Oudshoorn, H. J. Hermens, and M. J. Ijzerman, "Systematic review of the effect of robotaided therapy on recovery of the hemiparetic arm after stroke," J. Rehabil. Res. Develop., vol. 43, no. 2, pp. 171-184, Apr. 2006.
2. G. Kwakkel, B. J. Kollen, and H. I. Krebs, "Effects of robot-assisted therapy on upper limb recovery after stroke: A systematic review," Neurorehabil. Neural Repair, vol. 22, no. 2, pp. 111-121, Apr. 2008.
3. J. Mehrholz, T. Platz, J. Kugler, and M. Pohl, "Electromechanical and robot-assisted arm training for improving arm function and activities of daily living after stroke," Stroke, vol. 40, pp. 392-393, Mar. 2009.
4. K. Kiguchi and Y. Hayashi, "An EMG-based control for an upper-limb power-assist exoskeleton robot," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 42, no. 4, pp. 1064-1071, Aug. 2012.
5. L. Lunenburger, G. Colombo, and R. Riener, "Biofeedback for robotic gait rehabilitation," J. NeuroEng. Rehabil., vol. 4, no. 1, pp. 1-11, 2007.
6. R. A. R. C. Gopura and K. Kiguchi, "Mechanical designs of active upperlimb exoskeleton robots: State-of-the-art and design difficulties," in Proc. IEEE Int. Conf. Rehabil. Robot., Jun. 2009, pp. 178-187.
7. A. Jackson, P. Culmer, S. Makower, M. Levesley, R. Richardson, A. Cozens, M. M.Williams, and B. Bhakta, "Initial patient testing of iPAM- A robotic system for stroke rehabilitation," in Proc. IEEE 10th Int. Conf. Rehabil. Robot., Jun. 2007, pp. 250-256.
8. R. J. Sanchez, J. Liu, S. Rao, P. Shah, R. Smith, T. Rahman, S. C. Cramer, J. E. Bobrow, and D. J. Reinkensmeyer, "Automating arm movement training following severe stroke: Functional exercises with quantitative feedback in a gravity-reduced environment," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 14, no. 3, pp. 378-389, Sep. 2006.
9. W. Yu and J. Rosen, "Neural PID control of robot manipulators with application to an upper limb exoskeleton," IEEE Trans. Cybern., vol. 43, no. 2, pp. 673-684, Apr. 2013.
10. G. Aguirre-Ollinger, J. E. Colgate, M. A. Peshkin, and A. Goswami, "Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: Initial experiments," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 20, no. 1, pp. 68-77, Jan. 2012.
11. J. Ueda, D. Ming, V. Krishnamoorthy, M. Shinohara, and T. Ogasawara, "Individualmuscle control using an exoskeleton robot formuscle function testing," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 18, no. 4, pp. 339- 350, Aug. 2010.
12. B. Lee, H. Lee, J. Lee, K. Shin, J. Han, and C. Han, "Development of dynamic model-based controller for upper limb exoskeleton robot," in Proc. IEEE Int. Conf. Robot. Autom., 2012, pp. 3173-3178.
13. M. H. Rahman, T. Ouimet, M. Saad, J. P. Kenne, and P. S. Archambault, "Tele-operation of a robotic exoskeleton for rehabilitation and passive arm movement assistance," in Proc. IEEE Int. Conf. Robot. Biomimet., 2011, pp. 443-448.
14. C. T. Freeman, E. Rogers, A. Hughes, and J. H. Burridge, "Iterative learning control in health care: Electrical stimulation and robotic-assisted upper-limb stroke rehabilitation," IEEE Control Syst., vol. 32, no. 1, pp. 18-43, Feb. 2012.
15. A. Boulkroune, M. Tadjine, M. M'Saad, and M. Farza, "Fuzzy adaptive controller forMIMO nonlinear systems with known and unknown control direction," Fuzzy Sets Syst., vol. 161, no. 6, pp. 797-820, 2010.
16. A. Boulkroune, M.M'Saad, and H. Chekireb, "Design of a fuzzy adaptive controller forMIMO nonlinear time-delay systemswith unknown actuator nonlinearities and unknown control direction," Inf. Sci., vol. 180, no. 24, pp. 5041-5059, 2010.
17. A. Boulkroune, M. M'Saad, and M. Farza, "Adaptive fuzzy tracking control for a class ofMIMO nonaffine uncertain systems," Neurocomput., vol. 93, pp. 48-55, 2012.
18. A. Boulkroune, M. M'Saad, and M. Farza, "Fuzzy approximation-based indirect adaptive controller for multi-input multi-output non-affine systems with unknown control direction," IET Control Theory Appl., vol. 6, no. 17, pp. 2619-2629, 2012.
19. Y.-J. Liu, S. Tong, and C. L. Philip Chen, "Adaptive fuzzy control via observer design for uncertain nonlinear systems with unmodeled dynamics," IEEE Trans. Fuzzy Syst., vol. 21, no. 2, pp. 275-288, Apr. 2013.
20. Y.-J. Liu, S. Tong, and T. Li, "Observer-based adaptive fuzzy tracking control for a class of uncertain nonlinear MIMO systems," Fuzzy Sets Syst., vol. 164, no. 1, pp. 25-44, 2011.
21. Y.-J. Liu, S. Tong, and C. L. P. Chen, "Adaptive fuzzy control via observer design for uncertain nonlinear systems with unmodeled dynamics," IEEE Trans. Fuzzy Syst., vol. 21, no. 2, pp. 275-288, Apr. 2013.
22. S. Tong and Y. Li, "Adaptive fuzzy output feedback control of MIMO nonlinear systems with unknown dead-zone inputs," IEEE Trans. Fuzzy Syst., vol. 21, no. 1, pp. 134-146, Feb. 2013.
23. S. Tong, Y. Li, and P. Shi, "Observer-based adaptive fuzzy backstepping output feedback control of uncertain MIMO pure-feedback nonlinear systems," IEEE Trans. Fuzzy Syst., vol. 20, no. 4, pp. 771-785, Aug. 2012.
24. B. Chen, X. Liu, and S. Tong, "Adaptive fuzzy output tracking control of MIMO nonlinear uncertain systems," IEEE Trans. Fuzzy Syst., vol. 15, no. 2, pp. 287-300, Apr. 2007.
25. B. Chen, X. Liu, K. Liu, and C. Lin, "Direct adaptive fuzzy control of nonlinear strict-feedback systems," Automatica, vol. 45, no. 6, pp. 1530- 1535, 2009.
26. H. Zhang and Z. Bien, "Adaptive fuzzy control of MIMO nonlinear systems," Fuzzy Sets Syst., vol. 115, no. 2, pp. 191-204, 2000.
27. S. Tong, C. Liu, and Y. Li, "Fuzzy adaptive decentralized output-feedback control for large-scale nonlinear systems with dynamical uncertainties," IEEE Trans. Fuzzy Syst., vol. 18, no. 5, pp. 845-861, Oct. 2010.
28. S. Tong and Y. Li, "Observer-based fuzzy adaptive control for strictfeedback nonlinear systems," Fuzzy Sets Syst., vol. 160, no. 12, pp. 1749- 1764, 2009.
29. J. X. Xu and R. Yan, "Synchronization of chaotic systems via learning control," in Proc. Int. Conf. Control Autom., Robot. Vis., 2004, pp. 631- 636.
30. M.-X. Sun, Q.-Z. Yan, "Error tracking of iterative learning control systems," Acta Automatica Sinica, vol. 39, no. 3, pp. 251-262, 2013.
31. X. Jin and J.-X. Xu, "Iterative learning control for output-constrained systems with both parametric and nonparametric uncertainties," Automatica, vol. 49, no. 8, pp. 2508-2516, 2013.
32. E. Burdet, K. Tee, I. Mareels, T.Milner, C. Chew, D. Franklin, R. Osu, and M. Kawato, "Stability and motor adaptation in human arm movements," Biol. Cybern., vol. 94, pp. 20-32, 2006.
33. K. P. Tee, E. Burdet, C. M. Chew, and T. E. Milner, "A model of force and impedance in human arm movements," Biol. Cybern., vol. 90, pp. 368-375, 2004.
34. N. Sharma, K. Stegath, C. M. Gregory, and W. E. Dixon, "Nonlinear neuromuscular electrical stimulation tracking control of a human limb," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 17, no. 6, pp. 576-584, Dec. 2009.
35. Z. Ding, "Asymptotic rejection of unmatched general periodic disturbances in a class of nonlinear systems," IET Control Theory Appl., vol. 2, no. 4, pp. 269-276, 2008.
36. Z. Ding, "Asymptotic rejection of asymmetric periodic disturbances in output-feedback nonlinear systems," Automatica, vol. 43, no. 3, pp. 555- 561, 2007.
37. M. Bodson and S. C. Douglas, "Adaptive algorithms for the rejection of sinusoidal disturbances with unknown frequencies," Automatica, vol. 33, no. 10, pp. 2213-2221, 1997.
38. R. Marino, G. L. Santostosso, and P. Tomei, "Robust adaptive compensation of biased sinusoidal disturbances with unknown frequencies," Automatica, vol. 39, pp. 1755-1761, 2003.
39. M. Ruderman, A. Ruderman, and T. Bertram, "Observer-based compensation of additive periodic torque disturbances in permanent magnetmotors," IEEE Trans. Ind. Informat., vol. 9, no. 2, pp. 1130-1138, May 2013.
40. F. L. Lewis, C. T. Abadallah, and D. M. Dawson, Control of Robot Manipulator. New York, NY, USA: Macmillan, 1993.
41. L. Xu and B. Yao, "Adaptive robust precision motion control of linear motors with negligible electrical dynamics: Theory and experiments," IEEE Trans. Mechatronics, vol. 6, no. 4, pp. 444-452, Dec. 2001.