分離可能なサブシステムの制御と義肢への応用
Control of Separable Subsystems with Application to Prostheses
全身のダイナミクスを知らなくても、等価なサブシステムを構成して局所情報だけで制御則を計算できる「分離可能サブシステム制御」を提案し、切断者-義肢モデルのシミュレーションで全身フィードバック線形化と同等の性能を確認した。
著者: Rachel Gehlhar, Jenna Reher, Aaron D. Ames
分類: cs.RO
原文アブストラクト
Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent controllers due to the unknown human dynamics acting on the prosthesis. This paper overcomes this restriction by introducing the notion of a separable subsystem control law, independent of the full system dynamics. By constructing an equivalent subsystem, we calculate the control law with local information. We build a subsystem model of a general open-chain manipulator to demonstrate the control method's applicability. Employing these methods for an amputee-prosthesis model, we develop a model dependent prosthesis controller that relies solely on measurable states and inputs but is equivalent to a controller developed with knowledge of the human dynamics and states. We demonstrate the results through simulating an amputee-prosthesis system and show the model dependent prosthesis controller performs identically to a feedback linearizing controller based on the whole system, confirming the equivalency.
