System Development & Application
|
873-879

Iterative learning control of exoskeleton based on improved vortex search algorithm

Zhong Peisi
Zhang Dawei
Zhang Chao
Wang Xiao
Advanced Technology Research Center, Shandong University of Science & Technology, Qingdao Shandong 266590, China

Abstract

In order to improve the gait tracking performance of the rehabilitation exoskeleton robot, this paper proposed an iterative learning control method based on improved vortex search algorithm. Firstly, for the problems of poor immunity and missing control information of traditional iterative learning control, it introduced strategies such as PD controller, adaptive forgetting factor, error transition curve and control information search to improve the iterative learning control law. Secondly, it proposed an improved vortex search algorithm based on multiple strategies, and the algorithm could optimize the PD parameters of iterative learning control. Finally, it simulated and numerically compared the proposed iterative learning control method with existing similar algorithms on walking experiments, and test the tracking performance under perturbation. The experimental results show that the proposed iterative learning control method has smaller error and stronger tracking performance. The algorithm improves the shortcomings of the iterative learning control, has strong anti-interference performance, and ensures stability in use.

Foundation Support

国家自然科学基金资助项目(52234005)
山东省自然科学基金资助项目(ZR202103070107)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.07.0316
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 3
Section: System Development & Application
Pages: 873-879
Serial Number: 1001-3695(2024)03-034-0873-07

Publish History

[2023-11-17] Accepted Paper
[2024-03-05] Printed Article

Cite This Article

钟佩思, 张大卫, 张超, 等. 基于改进涡流搜索算法的外骨骼迭代学习控制 [J]. 计算机应用研究, 2024, 41 (3): 873-879. (Zhong Peisi, Zhang Dawei, Zhang Chao, et al. Iterative learning control of exoskeleton based on improved vortex search algorithm [J]. Application Research of Computers, 2024, 41 (3): 873-879. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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