首页|Leader–follower Stackelberg game oriented adaptive robust constraint-following control design for fuzzy exoskeleton robot systems
Leader–follower Stackelberg game oriented adaptive robust constraint-following control design for fuzzy exoskeleton robot systems
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NSTL
Elsevier
? 2022 Elsevier Inc.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.
Adaptive robust controlConstraint-followingFuzzy set theoryStackelberg game
Yang S.、Liu Y.、Shi H.、Zhang J.、Huang Y.
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School of Mechanical Engineering Anhui Polytechnic University
Department of Electrical & Computer Engineering Michigan State University
Department of Mechanical Engineering University of Nevada
School of Electrical Engineering Anhui Polytechnic University
NSTL
Elsevier
