Robust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer

• 作者: Zhenlei CHEN Qing GUO Yao YAN Dan JIANG
• 来源期刊: 机械工程(英文)
• 学科: 工学
• 关键词: lower limb exoskeleton linear-extended-state-observer robust sliding model control uncertain nonlinearity
• 年，卷（期）: 2020,（2）
• 页码范围: 1-6,I0004
• 页数: 7页
• 分类号: TP1

摘要

For the 2-Degree of Freedom(DOF)lower limb exoskeleton,to ensure the system robustness and dynamic performance,a linearextended-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.