【摘要】 针对动态特性复杂的上肢外骨骼系统的模型建立、高精度控制和复杂约束处理问题,提出基于T-S模糊算法的改进多变量约束预测控制方法 .提出区间Ⅱ型可能性C-均值聚类算法,获取数据建模过程中的样本隶属度矩阵,建立上肢外骨骼的数学模型.对系统复杂约束问题提出一种约束简化方法,将复杂约束转化为关于参数矩阵μ的约束.提出一种加权基函数法,将基函数思想引入预测控制,推导出上肢外骨骼预测控制器.仿真结果验证了该算法的优越性与有效性.更多还原

【Abstract】 Aiming at the problems of modeling, high precision control and complex constraints of upper limb exoskeleton system with complex dynamic characteristics, a method improved multivariable constraint generalized predictive control, based on T-S fuzzy system was proposed. The interval type 2 possibility C-means clustering algorithm was propounded to obtain the sample membership matrix needed in the process of data modeling, and the mathematical model of upper limb exoskeleton was established. For the complex constraint problem of the system, a constraint simplification method was put forward, which transformed the complex constraint of the system into the constraint on the parameter matrix and simplifies the constraint. A weighted basis function method was presented to introduce the basis function idea into the predictive control, and the upper limb exoskeleton predictive controller was derived. Simulation results verified the superiority and effectiveness of the proposed method.更多还原