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doi:
10.5937/str2003029L
Vol. 70, No.3
(2020), Pages: 29-34
Impressum
Contents
The advanced
iterative learning control algorithm for rehabilitation exoskeletons
Mihailo Lazarević
Nikola Živković
In this paper an
advanced iterative learning control algorithm for rehabilitation
exoskeletons is proposed. A simplified biomechanical model is used
as the control object to verify control algorithm feasibility. The
control design is proposed as two level controller consisting of
inner and outer loop. In the inner loop the feedback linearization
is applied to cancel out the model nonlinearities. In the outer loop
the advanced iterative learning control algorithm of sgnPDD2 type is
applied as a feedforward controller and classical PD controller as a
feedback controller. Uncertainties are added in order to examine the
controller design robustness. Numerical simulation is carried out.
Key words: biomechanical model, iterative learning control, feedback
linearization, uncertainty
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