Force Tracking Control of Lower Extremity Exoskeleton Based on a New Recurrent Neural Network

摘要

The lower extremity exoskeleton can enhance the ability of human limbs, which has been used in many fields. It is difficult to develop a precise force tracking control approach for the exoskeleton because of the dynamics model uncertainty, external disturbances, and unknown human–robot interactive force lied in the system. In this paper, a control method based on a novel recurrent neural network, namely zeroing neural network (ZNN), is proposed to obtain the accurate force tracking. In the framework of ZNN, an adaptive RBF neural network (ARBFNN) is employed to deal with the system uncertainty, and a fixed-time convergence disturbance observer is designed to estimate the external disturbance of the exoskeleton electrohydraulic system. The Lyapunov stability method is utilized to prove the convergence of all the closed-loop signals and the force tracking is guaranteed. The proposed control scheme’s (ARBFNN-FDO-ZNN) force tracking performances are presented and contrasted with the exponential reaching law-based sliding mode controller (ERL-SMC). The proposed scheme is superior to ERL-SMC with fast convergence speed and lower tracking error peak. Finally, experimental tests are conducted to verify the efficacy of the proposed controller for solving accurate force tracking control issues.