Arm Exoskeleton Based on Model Predictive Control with Input/Output Feedback Linearization

摘要

In this paper we discuss a two-DOFs arm exoskeleton dynamic system. Based on the dynamic characteristics of the system, the input/output feedback linearization will be adopted to obtain a linear state-space model. A model predictive control (MPC) algorithm as a control strategy is then proposed, which possesses the robustness to deal with the uncertainty and noise problems. A simulation and comparison study with other control method are also carried out. The results show that the model predictive control algorithm can provide better control performance by adjusting the control parameters and suitable for arm exoskeleton model.