华中科技大学学报（自然科学版）2026，Vol.54Issue(5)：135-141,7.DOI:10.13245/j.hust.240265
基于动态表面的上肢外骨骼固定时间控制方法
Fixed time control method of upper limb exoskeleton based on dynamic surface
摘要
Abstract
Aiming at the problem of trajectory tracking of a 3-degree of freedom(DOF)wearable upper limb exoskeleton system with state constraints and model uncertainty,a fixed-time dynamic surface control strategy based on fuzzy adaptive was proposed.First,the fuzzy logic system(FLS)was employed to approximate unknown nonlinear dynamics,and the introduction of a nonlinear transfer function addressed the state constraint problem,which could avoid the"feasibility condition"restriction of virtual controller.Then,a modified dynamic surface control technique was proposed to reduce the computation complexity for the repetitive differential associated with virtual signals in the traditional backstepping algorithm.Additionally,a fixed-time filter was designed to provide an effective filtering solution for the fixed-time control of the exoskeleton system.Theoretical analysis shows that the proposed control scheme can guarantee the boundedness of the system tracking error without violating the state constraints.Meanwhile,the system output can accurately track the reference trajectory in a fixed time,and the convergence time is independent of the initial state of the system.Finally,the effectiveness of the proposed algorithm was verified by the simulation results.关键词
上肢外骨骼/非线性转换函数/动态表面控制/固定时间控制/状态约束Key words
upper limb exoskeleton/nonlinear transfer function/dynamic surface control/fixed time control/state constraints分类
信息技术与安全科学引用本文复制引用
张燕,杨义鑫,于喜龙,吴延林..基于动态表面的上肢外骨骼固定时间控制方法[J].华中科技大学学报（自然科学版）,2026,54(5):135-141,7.基金项目
国家重点研发计划资助项目(2020YFC2007702). （2020YFC2007702）
