Sliding Mode-Based Active Disturbance Rejection Control of Assistive Exoskeleton Device for Rehabilitation of Disabled Lower Limbs

Sliding Mode-Based Active Disturbance Rejection Control of Assistive Exoskeleton Device for Rehabilitation of Disabled Lower Limbs

Abstract In this study, a hybrid control strategy is proposed to improve the tracking performance of lower limb exoskeleton system dedicated for rehabilitation the motion of hip and knee limbs in disabled persons. The proposed controller together with exoskeleton device is practically instructive to...

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Bibliographic Details
Main Authors: NASIR A. ALAWAD, AMJAD J. HUMAIDI, AHMED S. ALARAJI
Format: Article
Language:English
Published: Academia Brasileira de Ciências 2023-06-01
Series:Anais da Academia Brasileira de Ciências
Subjects:
Exoskeleton system
rehabilitation training
sliding mode control
ADRC
PD controller
exogenous disturbance
Online Access:http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0001-37652023000301702&tlng=en

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