Implicit Generalized Predictive Control of Hip-Joint Rehabilitation Training Device Driven by Pneumatic Muscle Actuator

摘要

To solve the problem of the time-delay, nonlinear and time-variable characteristics of hip-joint rehabilitation training device driven by pneumatic muscle actuator, an implicit generalized predictive controller was designed based on parameter model in this paper. It was applied to the isokinetic continuous passive motion control of the hip-joint rehabilitation training device. Experimental results proved that the controller has the property of high control accuracy, anti-disturbance capability and excellent adaptive abilities for the changes of system model parameters, compared with PID controller. This control method provides the beneficial reference for improving the control performance of such system.