ZMP Theory-based Gait Planning and Model-Free Trajectory Tracking Control of
Lower Limb Carrying Exoskeleton System
Haoping WANG, Yang TIAN, Shuaishuai HAN, Xikun WANG
School of Automation, Sino-French International Joint Laboratory of Automatic Control and Signal Processing (LaFCAS),
Nanjing University of Science & Technology
Nanjing, 210094, China.
Corresponding author : firstname.lastname@example.org
ABSTRACT: A virtual prototype design and corresponding mathematical model analysis is presented. To obtain a stable and smooth synthesized gait, the zero-moment-point (ZMP) theory and three spline interpolation method have been combined and applied. A novel data-driven model free control strategy, called Time-Delay Estimation based intelligent PID (TDE-iPID) combined with Equivalent Sliding Mode Control (TDE-iPIDESMC), is developed for the trajectory tracking of the planned gait. To demonstrate the effectiveness of the proposed planning gait and controllers, the exoskeleton system is implemented on the co-simulation platform composing of Adams and MATLAB/Simulink. The corresponding co-simulation results show better performances than the compared classical PID and TDE-iPID methods.
KEYWORDS: lower limb carrying exoskeleton, gait planning, ZMP, TDE-iPIDESMC, co-simulation.
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CITE THIS PAPER AS:
Haoping Wang, Yang Tian, Shuaishuai Han, Xikun Wang, ZMP Theory-based Gait Planning and Model-Free Trajectory Tracking Control of Lower Limb Carrying Exoskeleton System, Studies in Informatics and Control, ISSN 1220-1766, vol. 26(2), pp. 161-170, 2017. https://doi.org/10.24846/v26i2y201704