Title : ( Design and Implementation of a Real-Time Nonlinear Model Predictive Controller for a Lower Limb Exoskeleton with Input Saturation )
Authors: Seyed Mohammad Tahamipour Zarandi , Seyed Kamal Hosseini Sani , Mohammad Reza Akbarzadeh Totonchi , Alireza Akbarzadeh Tootoonchi , MohammadGhassem FarajzadehDevin ,
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Abstract
In this paper, a nonlinear model predictive controller (NMPC) with input saturation is designed and modified for a rehabilitative exoskeleton for paraplegic individuals. An analytical solution for the NMPC optimization problem is obtained for small prediction horizons (N<3). Additionally, an iterative solution for longer horizon problems (N≥3) is performed by employing the linear time-varying approach and using the active set method to include the constraints. Real-time guarantee for the implementation of both NMPC solutions is derived, and the robustness and stability of the closed-loop system are discussed. Finally, the proposed controller is successfully simulated and implemented on a real exoskeleton robot with 1 ms sampling time. The results show that the proposed controller is more effective than PID and adaptive fuzzy controllers.
Keywords
, Exoskeleton robot, Nonlinear Model Predictive Control (NMPC), Linear Time-Varying (LTV) MPC, Real-time controller, Input saturation.
@article{paperid:1080309,
author = {Tahamipour Zarandi, Seyed Mohammad and Hosseini Sani, Seyed Kamal and Akbarzadeh Totonchi, Mohammad Reza and Akbarzadeh Tootoonchi, Alireza and FarajzadehDevin, MohammadGhassem},
title = {Design and Implementation of a Real-Time Nonlinear Model Predictive Controller for a Lower Limb Exoskeleton with Input Saturation},
journal = {Iranian Journal of Science and Technology-Transactions of Electrical Engineering},
year = {2020},
volume = {45},
number = {1},
month = {July},
issn = {2228-6179},
pages = {309--320},
numpages = {11},
keywords = {Exoskeleton robot; Nonlinear Model Predictive Control (NMPC); Linear Time-Varying (LTV) MPC; Real-time controller; Input saturation.},
}
%0 Journal Article
%T Design and Implementation of a Real-Time Nonlinear Model Predictive Controller for a Lower Limb Exoskeleton with Input Saturation
%A Tahamipour Zarandi, Seyed Mohammad
%A Hosseini Sani, Seyed Kamal
%A Akbarzadeh Totonchi, Mohammad Reza
%A Akbarzadeh Tootoonchi, Alireza
%A FarajzadehDevin, MohammadGhassem
%J Iranian Journal of Science and Technology-Transactions of Electrical Engineering
%@ 2228-6179
%D 2020
