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Open Access

Error-Accumulation Improved Newton Algorithm in Model Predictive Control for Novel Compliant Actuator-Driven Upper-Limb Exoskeleton

Department of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun 130012, China
College of Information Science and Engineering, Northeastern University, Shenyang 110004, China, and also with National Mobile Communications Research Laboratory, Southeast University, Nanjing 210096, China
School of Electrical and Information Engineering, Jilin Engineering Normal University, Changchun 130062, China
Laboratory of Cognitive and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
Department of Control Engineering, Changchun University of Technology, Changchun 130012, China
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Abstract

In this paper, a Novel Compliant Actuator (NCA)-driven Upper-Limb Exoskeleton (ULE) with force controllable, impact resistance, and back drivability is designed to ensure the safety of the subject during Human-Robot Interaction (HRI) processing. Based on the designed NCA-driven ULE, this paper constructs a Model Predictive Control Scheme (MPCS) for force trajectory tracking, which minimises future tracking errors by solving an optimal control problem with inequality constraints. In addition, an Error-Accumulation Improved Newton Algorithm (EAINA) is proposed to solve the MPCS for suppressing various noises and external disturbances. The proposed EAINA is theoretically proved to have small steady state for noise conditions and stability of the EAINA using Lyapunov method. Finally, experimental results verify that the proposed MPCS solved by the EAINA in the NCA-driven ULE achieves robustness, fast convergence, strong tolerance and stability for trajectory rehabilitation task.

Keywords

Novel Compliant Actuator (NCA)-driven Upper-Limb Exoskeleton (ULE)model predictive controlError-Accumulation Improved Newton Algorithm (EAINA)noise tolerancerobustness performance

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Tsinghua Science and Technology
Volume 30 Issue 5,
October 2025
Pages 1965-1979
DOI: 10.26599/TST.2024.9010145
Cite this article:
Xu C, Zhang J, Liu K, et al. Error-Accumulation Improved Newton Algorithm in Model Predictive Control for Novel Compliant Actuator-Driven Upper-Limb Exoskeleton. Tsinghua Science and Technology, 2025, 30(5): 1965-1979. https://doi.org/10.26599/TST.2024.9010145

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Received: 03 June 2024
Revised: 04 July 2024
Accepted: 06 August 2024
Published: 29 April 2025
© The Author(s) 2025.

The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).
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