Robust Adaptive Control of Knee Exoskeleton-Assistant System Based on Nonlinear Disturbance Observer

Robust Adaptive Control of Knee Exoskeleton-Assistant System Based on Nonlinear Disturbance Observer

This study presents a control design of an angular position for the exoskeleton knee assistance system based on a model reference adaptive control (MRAC) strategy. Three schemes of the MRAC design have been proposed: the classical MRAC, MRAC with an adaptive disturbance observer, and MRAC with a non...

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Bibliographic Details
Main Authors: Anwer S. Aljuboury, Akram Hashim Hameed, Ahmed R. Ajel, Amjad J. Humaidi, Ahmed Alkhayyat, Ammar K. Al Mhdawi
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Actuators
Subjects:
knee exoskeleton-assistant system
observer
stability analysis
model reference adaptive control
Online Access:https://www.mdpi.com/2076-0825/11/3/78

Internet

https://www.mdpi.com/2076-0825/11/3/78

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