Implicit Generalized Predictive Control of Hip-joint Rehabilitation Training Device Driven by Pneumatic Muscle Actuator

To slove the problem of the delay,nonlinear and time-variable characteristics of hip-joint rehabilitation training device driven by pneumatic muscle actuator,a implicit generalized predictive controller was designed based on parameter model.It was applied to the isokinetic continuous passive motion control of the hip-joint rehabilitation training device.The experimental results prove that the controller has the property of high control accuracy,anti-disturbance capability and excellent adaptive abilities for the changes of system model parameters.This control method provides reference for improving the control performance of such system.