Observer-based finite-time control for trajectory tracking of lower extremity exoskeleton

Wang, Jie; Guo, Siu-Siu

doi:10.1177/09596518211033728

Cited by 7 publications

(4 citation statements)

References 32 publications

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“…Incorporating equation (17) in the derivative of equation ( 18), the following relation can be obtained…”

Section: Outer-loop Control: Admittance Controlmentioning

confidence: 99%

“…In the past two decades, extensive research has been conducted on position/trajectory control methods for LLERs, including both non-robust 15,16 and robust approaches [17][18][19][20][21][22] for the LLERs to achieve a predefined gait trajectory. However, the position control schemes could never be sufficient in physical human-robot interaction (pHRI) where the subject's active involvement is crucial in lower-limb rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive backstepping human-cooperative control of a pediatric gait exoskeleton system with high- and low-level admittance

Narayan,

Kalita,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Post-neurological disorder, passive-assist training disregards human involvement during robot-aided lower-limb rehabilitation. This work presents a novel human-cooperative framework based on the admittance and trajectory control scheme to administer the subject–exoskeleton interaction for pediatric gait rehabilitation. Initially, the mechanical design and dynamic analysis of an existing exoskeleton system are briefly attended. Thereafter, an admittance model is designed in the outer loop, which recasts the desired human trajectory into a reference trajectory. As an inner-loop control scheme, a robust adaptive backstepping controller is designed to trace the reference gait trajectory under parametric uncertainties and external disturbances. Lyapunov stability analysis is solved to guarantee the uniform boundedness of the control signals. Moreover, the well-known problem of “explosion of complexity” and “overparameterization” is avoided through the design of the robust adaptive backstepping control scheme. The performance of the proposed robust adaptive backstepping-based human-cooperative control is studied under the low- and high-level admittance model. Finally, the effectiveness of the proposed control is validated with a variable structure adaptive robust-based human-cooperative control. The co-simulation results show that the proposed control with low-level admittance allows the subject to participate in the training process more frankly. The proposed robust adaptive backstepping-based human-cooperative control tracks the reference gait more promisingly than the variable structure adaptive robust-based human-cooperative control for both admittance levels.

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“…Incorporating equation (17) in the derivative of equation ( 18), the following relation can be obtained…”

Section: Outer-loop Control: Admittance Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping human-cooperative control of a pediatric gait exoskeleton system with high- and low-level admittance

Narayan,

Kalita,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…As compared to PID controller, the FTSMC-based ADRC has better tracking performance. J. Wang et al [ 19 ] presented observer-based finite-time controller for trajectory tracking control of PAM-actuated exoskeleton robot to improve the movement ability of disabled lower-limbs (hip and knee joints). The lumped uncertainties and angular velocities are estimated based on extended state observer (ESO).…”

Section: Introductionmentioning

confidence: 99%

Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care

AL-DUJAILI,

Hasan,

Humaidi

et al. 2024

Heliyon

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“…The proposed controller showed faster response and better tracking precision as compared to a PID controller. In [16], J. Wang investigated the control design for a PAM-actuated lower-extremity exoskeleton (LEE) system using output sliding mode control (SMC) based on a finite-time observer. This study applied a finite-time ESO to estimate the lumped disturbances and unmeasurable velocities.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

et al. 2022

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In this study, synergetic-based adaptive control design is developed for trajectory tracking control of joint position in knee-rehabilitation system. This system is often utilized for rehabilitation of patients with lower-limb disabilities. However, this knee-assistive system is subject to uncertainties when applied to different persons undertaking exercises. This is due to the different masses and inertias of different persons. In order to cope with these uncertainties, an adaptive scheme has been proposed. In this study, an adaptive synergetic control scheme is established, and control laws are developed to ensure stable knee exoskeleton system subjected to uncertainties in parameters. Based on Lyapunov stability analysis, the developed adaptive synergetic laws are used to estimate the potential uncertainties in the coefficients of the knee-assistive system. These developed control laws guarantee the stability of the knee rehabilitation system controlled by the adaptive synergetic controller. In this study, particle swarm optimization (PSO) algorithm is introduced to tune the design parameters of adaptive and non-adaptive synergetic controllers, in order to optimize their tracking performances by minimizing an error-cost function. Numerical simulations are conducted to show the effectiveness of the proposed synergetic controllers for tracking control of the exoskeleton knee system. The results show that compared to classical synergetic controllers, the adaptive synergetic controller can guarantee the boundedness of the estimated parameters and hence avoid drifting, which in turn ensures the stability of the controlled system in the presence of parameter uncertainties.

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Observer-based finite-time control for trajectory tracking of lower extremity exoskeleton

Cited by 7 publications

References 32 publications

Adaptive backstepping human-cooperative control of a pediatric gait exoskeleton system with high- and low-level admittance

Adaptive backstepping human-cooperative control of a pediatric gait exoskeleton system with high- and low-level admittance

Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care

Adaptive Synergetic Motion Control for Wearable Knee-Assistive System: A Rehabilitation of Disabled Patients

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