基于类牛顿学习律的携行外骨骼系统控制

摘要

为了提高系统的控制速度及精度，运用携行系统重复运动这一特性，根据类牛顿迭代学习律的理论，构造了时变的下肢外骨骼迭代学习算子，考虑了人机作用力。仿真结果表明了该方法的可行性及有效性。%To improve the control velocity and accuracy ,using the characteristic of the carrying system repeat move‐ment ,according to quasi‐Newton iterative learning rule ,the time‐varying iterative learning operator of the lower extreme ex ‐oskeleton is constructed .The human‐machine interactive force is considered .Simulation results test the feasibility and validi‐ty of this method .