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Application of a Neural Network for Controlling Servo Electric Drives of the Lower-Extremity Powered Exoskeleton

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Abstract

An algorithm for controlling servo electric drives of the lower-extremity joint angles of an exoskeleton using a neural network to compensate for the effects of stochastic external disturbances, uncertain parameters of the dynamic model, and nonlinear elements in the form of friction and elasticity is presented. The control method, which is based on a neural network, which has the ability to learn and adapt, makes a new approach to the study possible, as well as making it possible to adapt the model with any errors, without regard to the structure of the nonlinear object. A mathematical model of the motion dynamics of an exoskeleton (two legs with five joints) has been constructed with allowance for nonlinear electric drives. The results of an experiment are obtained to illustrate the effectiveness of the proposed control strategy in the MATLAB/Simulink program, including in comparison with a conventional PID-controller.

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Authors and Affiliations

  1. St. Petersburg Electrotechnical University “LETI”, 197022, St. Petersburg, Russia

    L. P. Kozlova, M. P. Belov & D. D. Chyong

Authors
  1. L. P. Kozlova
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  2. M. P. Belov
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  3. D. D. Chyong
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Correspondence to L. P. Kozlova.

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Translated by A. Kolemesin

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Kozlova, L.P., Belov, M.P. & Chyong, D.D. Application of a Neural Network for Controlling Servo Electric Drives of the Lower-Extremity Powered Exoskeleton. Russ. Electr. Engin. 93, 179–183 (2022). https://doi.org/10.3103/S1068371222030099

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  • DOI: https://doi.org/10.3103/S1068371222030099

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