RFAC Based Task-Oriented Active Sharing Control for a Class of Robotic Rehabilitation Training Systems

	RFAC Based Task-Oriented Active Sharing Control for a Class of Robotic Rehabilitation Training Systems
	Meng, Fancheng 1,2,3; Yang, Shuo 2,3; Li, Yafeng 2,3; Wang, Jinlei 2,3
	2018
关键词	Robotic rehabilitation system RFAC Task-oriented active sharing control Lyapunov stability analysis
页码	5471-5475
英文摘要	This paper proposes a robust fuzzy adaptive critic controller (RFAC) for a class of robotic rehabilitation systems. Based on the RFAC control approach, the robotic rehabilitation system can utilize a robust fuzzy actor to generate an optimal task-oriented active sharing control behavior under the guidance of a fuzzy critic. Specifically, if the control behavior generated by the fuzzy actor is good for rehabilitation training, then the critic will give a reward, otherwise, the critic will punish the fuzzy actor to modify its control behavior. Finally, the RFAC can find the optimal control policy for the real robotic rehabilitation training through the reward-punishment mechanism. In addition, to attenuate the effects of the approximation error and various uncertainties in the system, a recently developed robust integral of the sign of the error feedback technique is also integrated into the developed RFAC agent. Lyapunov stability analysis shows the RFAC can yield a semi-global asymptotic result. Also, simulation experiments verify that the RFAC has good performance.
会议录	2018 37TH CHINESE CONTROL CONFERENCE (CCC)
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	英语
资助项目	National Natural Science Foundation of China[61563032] ; National Natural Science Foundation of China[61763026]
WOS研究方向	Automation & Control Systems
WOS记录号	WOS:000468622400044
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/36189]
专题	电气工程与信息工程学院
通讯作者	Meng, Fancheng
作者单位	1.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Gansu, Peoples R China 2.Key Lab Gansu Adv Control Ind Proc, Lanzhou 730050, Gansu, Peoples R China 3.Natl Expt Teaching Ctr Elect & Control Engn, Lanzhou 730050, Gansu, Peoples R China
推荐引用方式 GB/T 7714	Meng, Fancheng,Yang, Shuo,Li, Yafeng,et al. RFAC Based Task-Oriented Active Sharing Control for a Class of Robotic Rehabilitation Training Systems[C]. 见:.