| Autor: |
Bhaskarwar, Tushar, Aole, Sumit, Chile, Rajan, Patre, Balasaheb, Waghmare, Laxman |
| Zdroj: |
International Journal of Dynamics and Control; 20230101, Issue: Preprints p1-13, 13p |
| Abstrakt: |
The Enhanced Active Disturbance Rejection Controller (EADRC) is proposed to perform flexion and extension motions for the shoulder and elbow joints repeatedly and precisely in the sagittal plane using a combination of a nonlinear state error feedback (NLSEF), an extended state observer (ESO), and a finite time stable tracking differentiator (FTSTD). Making use of the Euler–Lagrangian method, the mathematical model of the exoskeleton is derived. A sinusoidal trajectory is supplied as input to a two-link multi-input and multi-output (MIMO) upper limb robotic rehabilitation exoskeleton to perform passive rehabilitation. EADRC tracks this sinusoidal trajectory by estimating the states of a system based on the input–output data of the system and actively removes disturbances. The model parameters are varied by ±20%of actual value with constant external disturbance to demonstrate the proposed controller’s robustness against uncertainties and disturbances. Stability of the controller is discussed. The proposed strategy was compared with state-of-the-art ESO-based techniques in the simulation. Various performance indicators were used to assess the controller’s efficacy which acknowledge that the proposed strategy enhances tracking performance and reliability. |
| Databáze: |
Supplemental Index |
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