SRACO Based Co-adaptive Control for a Class of Upper-limb Robotic Rehabilitation Training Systems

	SRACO Based Co-adaptive Control for a Class of Upper-limb Robotic Rehabilitation Training Systems
	Meng, Fancheng 1,2,3; An, Aimin 1,2,3; Li, Erchao 1,2,3; Yang, Shuo 2,3; Wang, Jinlei 2,3; Li, Yafeng 2,3
	2018
关键词	Robotic rehabilitation system Saturated terms SRACO Co-adaptive control
页码	5659-5663
英文摘要	The goal of this paper is to develop a SRACO (i.e., saturated robust adaptive critic-based optimal control) based co-adaptive control system for a class of upper-limb rehabilitation training systems. The control system should be able to combine the rehabilitation robot and the patient to learn to accomplish goal-directed training tasks using the reward-punishment method, rather than clear training signals. Specifically, if the control behavior generated by the control system is good for rehabilitation training and enable the coadaptation between the patient and the rehabilitation robot, then the critic will give a reward, otherwise, the critic will punish the developed controller to modify its control behavior, till the controller finds the optimal control policy for the everyday functional rehabilitation training through the natural decision mechanism. Finally, the developed control approach (through Lyapunov stability analysis) is proved to achieve a robust optimal tracking, provided the control gains are selected appropriately. Simulation studies also show that the improved approach has robust optimal tracking than the existing controllers even with limiting control input.
会议录	2018 37TH CHINESE CONTROL CONFERENCE (CCC)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
资助项目	National Natural Science Foundation of China[61563032] ; National Natural Science Foundation of China[61763026]
WOS研究方向	Automation & Control Systems
WOS记录号	WOS:000468622400074
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36191]
专题	电气工程与信息工程学院
通讯作者	Meng, Fancheng
作者单位	1.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Gansu, Peoples R China 2.Key Lab Gansu Adv Control Ind Proc, Lanzhou 730050, Gansu, Peoples R China 3.Natl Expt Teaching Ctr Elect & Control Engn, Lanzhou 730050, Gansu, Peoples R China
推荐引用方式 GB/T 7714	Meng, Fancheng,An, Aimin,Li, Erchao,et al. SRACO Based Co-adaptive Control for a Class of Upper-limb Robotic Rehabilitation Training Systems[C]. 见:.