Open AccessRobust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer
Author(s) -
Zhenlei Chen,
Qing Guo,
Yao Yan,
Dan Jiang
Publication year - 2020
Publication title -
mechanical engineering science
Language(s) - English
Resource type - Journals
eISSN - 2661-443X
pISSN - 2661-4448
DOI - 10.33142/mes.v2i2.3160
Subject(s) - control theory (sociology) , exoskeleton , state observer , parametric statistics , robustness (evolution) , sliding mode control , lyapunov function , observer (physics) , angular velocity , computer science , robust control , lyapunov stability , controller (irrigation) , nonholonomic system , engineering , control engineering , nonlinear system , control system , mathematics , simulation , control (management) , robot , mobile robot , physics , artificial intelligence , chemistry , biology , biochemistry , quantum mechanics , agronomy , statistics , electrical engineering , gene
For the 2- Degree of Freedom (DOF) lower limb exoskeleton, to ensure the system robustness and dynamic performance, a linear-extended-state-observer-based (LESO) robust sliding mode control is proposed to not only reduce the influence of parametric uncertainties, unmodeled dynamics, and external disturbance but also estimate the unmeasurable real-time joint angular velocity directly. Then, via Lyapunov technology, the stability of the corresponding LESO and controller is proven. The appropriate and reasonable simulation was carried out to verify the effectiveness of the proposed LESO and exoskeleton controller.