Control of a pneumatic power active lower-limb orthosis with filter-based iterative learning control

Chia-En Huang and Jian-Shiang Chen

International Journal of Systems Science, 2014, vol. 45, issue 5, 915-934

Abstract: A filter-based iterative learning control (FILC) scheme is developed in this paper, which consists in a proportional–derivative (PD) feedback controller and a feedforward filter. Moreover, based on two-dimensional system theory, the stability of the FILC system is proven. The design criteria for a wavelet transform filter (WTF) – chosen as the feedforward filter – and the PD feedback controller are also given. Finally, using a pneumatic power active lower-limb orthosis (PPALO) as the controlled plant, the wavelet-based iterative learning control (WILC) implementation and the orchestration of a trajectory tracking control simulation are given in detail and the overall tracking performance is validated.

Date: 2014
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DOI: 10.1080/00207721.2012.743052

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