Truong, D.D. and Belov, M.P. and Tuan, P.V. (2021) Disturbance Estimation and Compensation in Exoskeleton Electric Drive Control with Neural Network. In: 2021 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, ElConRus 2021, 26 January 2021 through 28 January 2021.
Disturbance Estimation and Compensation in Exoskeleton Electric Drive Control with Neural Network.pdf
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Abstract
The article proposes a method to evaluate and compensate uncertain disturbance in exoskeleton electric drive control system. The mathematical model for exoskeleton electric drive system with taking into account the nonlinear components and the interaction force between exoskeleton and lower extremities is developed. The PD control combined with the RBF adaptive neural network is investigated with linear-quadratic regulator as the basic foundation of the feedback design to evaluate and compensate the unknown disturbances in control system. The PD ingredient is applied to stabilize the dominant model. The simulation results in Matlab/Simulink indicate that the proposed PD-linear quadratic regulator with adaptive neural network compensation is more efficiency in compared with the conventional PD-linear quadratic regulator. © 2021 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Offices > Office of International Cooperation |
| Identification Number: | 10.1109/ElConRus51938.2021.9396641 |
| Uncontrolled Keywords: | Adaptive control systems; Electric drives; Exoskeleton (Robotics); MATLAB; Radial basis function networks; Adaptive neural networks; Disturbance estimation; Electric drive system; Interaction forces; Linear quadratic regulator; Nonlinear components; Uncertain disturbances; Unknown disturbance; Electric machine control |
| Additional Information: | Conference code: 168373. Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/8702 |
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