2965 KB27 KB199920252014Song, ShengliTan, ZhitaoZhang, Xinglongštevilka:6letnik:60str. 437-446, SI 82ISSN:0039-2480COBISSID:13511963URN:URN:NBN:SI:doc-AJ2ZWAWSenZveza strojnih inženirjev in tehnikov Slovenije et al.Strojniški vestnikeksoskeletihidravlični servosistemiradialna bazična nevronska mrežasledenje silevodenje v drsnem režimuRBF neural network based sliding mode control of a lower limb exoskeleton suit|A new force tracking control algorithm of partial actuated lower limb exoskeleton suit, which is designed for enhancing human motion is presented in this paper. Firstly, a mathematical model of the electro-hydraulic servo system was created, and equations for the frictions in the hydraulic valve and actuator were obtained. Secondly, the appropriate observer based on the estimated functions and the measurement error equations are presented for the sliding mode control algorithm. Thirdly, a sliding mode controller with applicable surface coefficient has been designed for force tracking control of the servo system. Fourthly, so as to reduce the error caused by the unchangeable surface of the sliding mode control, a radial basis functions (RBF) neural network control algorithm has been introduced to offset the disadvantage of the sliding mode control by moving the sliding surface effectively. Finally, the simulation results under conditions of different frequencies and the trial results based on the human motion of sliding mode control and the RBF based sliding control are presented, which indicate that RBF based sliding control provides a better performance than regular sliding mode controlGlavni cilj projekta je razvoj novega eksoskeleta za izboljšanje človekovega gibanja v spodnjem delu telesa, ki je opremljen s hidromotorjem in vzmetjo v obeh kolkih in gležnjih, ter z vzmetjo v obeh kolenih. Ugotovili smo, da se pri vodenju v drsnem režimu s sledenjem sile eksoskeleta za spodnji del telesa, ki je delno opremljen z motorji, pojavlja določena napaka, ki vpliva na zmogljivost robota. Zato je bil uveden nov krmilni algoritem za sledenje sile pri vodenju v drsnem režimu z radialno bazično nevronsko mrežo (RBF), ki je zasnovan za zmanjšanje napake sledenja vodenja v drsnem režimuTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo