Noise-tolerant zeroing neurodynamic algorithm for upper limb motion intention-based human–robot interaction control in non-ideal conditions

作者：

Highlights：

• Motion intention-based system promotes active and natural human–robot interaction.

• A noise-tolerant zeroing neurodynamic controller is designed in non-ideal condition.

• The system with noise-tolerant controller can suppress external disturbances.

• Theory analyses prove the 0-stability, consistency and convergence of the system.

• The system is significantly superior in control accuracy and real time performance.

摘要

•Motion intention-based system promotes active and natural human–robot interaction.•A noise-tolerant zeroing neurodynamic controller is designed in non-ideal condition.•The system with noise-tolerant controller can suppress external disturbances.•Theory analyses prove the 0-stability, consistency and convergence of the system.•The system is significantly superior in control accuracy and real time performance.

论文关键词：Human–robot interaction,Active motion intention recognition,Noise-tolerant zeroing neurodynamic (NTZND),Non-ideal conditions,Discrete-time

论文评审过程：Received 15 June 2022, Revised 2 September 2022, Accepted 20 September 2022, Available online 30 September 2022, Version of Record 7 October 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118891