Sliding mode control combined with extended state observer for an ankle exoskeleton driven by electrical motor |
| |
| Affiliation: | 1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China;2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, China;3. School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China;4. Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, China;5. The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310013, China;1. Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 80424, Taiwan;2. Institute of Medical Science and Technology, National Sun Yat-sen University, Kaohsiung 80424, Taiwan;3. Department of Occupational Therapy, Kaohsiung Medical University, Kaohsiung 80708, Taiwan;4. Office of Research and Development, Naroller Electronics Co., Ltd., Taoyuan City 33393, Taiwan;5. Institute of Biomedical Sciences, National Sun Yat-sen University, Kaohsiung 80424, Taiwan |
| |
| Abstract: | A novel sliding mode control combined with extended state observer (ESO) is proposed for an ankle exoskeleton driven by electrical motor. During the process of assisting, it is necessary to design an effective controller for assisting torque of ankle exoskeleton. However, the parameter uncertainty of complex dynamics model and the irregular motion of human ankle may affect the torque control accuracy. For a high control precision of assisting torque when facing the modeling uncertainty, the sliding mode control is employed, but a large switching gain is usually needed in order to suppress the disturbance, which cause the control signal vibrate greatly. ESO can observe and suppress the disturbance and modeling uncertainty, but its tracking performance needs to be improved. Therefore, the proposed complex controller takes the advantages of sliding mode control and extended state observer, which can not only improve torque tracking performance but also overcome the disturbance force caused by the change of human joint angle without increasing chattering of control signal. Experimental studies are carried out to validate the effectiveness of the proposed control. The results show the presented controller have better torque tracking performance and robustness stability, and the proposed controller can reduce the chattering compared with the tradition sliding mode control. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
