An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work. The linear finite hysteretic state machine is designed to recognize hybrid motion phases. The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion. Experiments are carried out to verify the performance of the controller, confirming the stability and accuracy of the motion phase recognition, which also demonstrates excellent kinematic performance. The net metabolic rate can be reduced by 5.75% while wearing the versatile hip exoskeleton. Compared with existing research, the performance of the proposed controller has significant advantages. The proposed controller is capable of multiple types of locomotion including flat walking, stair climbing, and lifting heavy objects with low complexity and energy consumption.

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This paper investigates the bearing-only formation control problem of a heterogeneous multi-vehicle system, which includes unmanned aerial vehicles (UAVs) and unmanned surface vehicles (UWSVs). The interactions among vehicles are described by a particular class of directed and acyclic graphs, namely heterogeneous leader-first follower (HLFF) graphs. Under the HLFF structure, a UAV is selected as the leader, moving with the reference dynamics, while the followers, including both UAVs and UWSVs, are responsible for controlling the position with regard to the neighbors in the formation. To solve the problem, we propose a velocity-estimation-based control scheme, which consists of a distributed observer for estimating the reference velocity of each vehicle and a distributed formation control law for achieving the desired formation based on the estimations and bearing measurements. Moreover, it is shown that the translation and scale of the formation can be uniquely determined by the leader UAV. The theoretical analysis demonstrated the finite-time convergence of the velocity estimation and the asymptotic convergence of the formation tracking. Comparative simulation results are provided to substantiate the effectiveness of the proposed method.

<div>An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work.</div><div>The linear finite hysteretic state machine is designed to recognize hybrid motion phases.</div><div>The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion.</div><div>Experiments are carried out to verify the performance of the controller, confirming the stability and accuracy of the motion phase recognition, which also demonstrates excellent kinematic performance.</div><div>The net metabolic rate can be reduced by 5.75% while wearing the versatile hip exoskeleton.</div><div>Compared with existing research, the performance of the proposed controller has significant advantages.</div><div>The proposed controller is capable of multiple types of locomotion including flat walking, stair climbing, and lifting heavy objects with low complexity and energy consumption.</div><div><br></div><div>The Biological and Medical Ethics Committee of Beihang University has approved the experiments.<br></div>