Composite position control based on finite time observer and super-twisting algorithm for flexible lower exoskeleton

Jinghao Zhu; Xinyu Zhu; Xinghua Zhang; Zhenxing Sun

doi:10.1117/12.2663247

22 December 2022 Composite position control based on finite time observer and super-twisting algorithm for flexible lower exoskeleton

Jinghao Zhu, Xinyu Zhu, Xinghua Zhang, Zhenxing Sun

Author Affiliations +

Proceedings Volume 12508, International Symposium on Artificial Intelligence and Robotics 2022; 125080B (2022) https://doi.org/10.1117/12.2663247
Event: Seventh International Symposium on Artificial Intelligence and Robotics 2022, 2022, Shanghai, China

Abstract

To improve the control accuracy of flexible exoskeleton of lower limb under external disturbance and parameter uncertainty, a compound position control method is designed. Firstly, the Lagrange function is used to establish the model of exoskeleton robot . Secondly, two finite time state observers (FTSO) are utilized to observe disturbances that will be compensated, because the system is impacted by both matched and unmatched disturbances. In the controller, the super twisting algorithm is used and to guarantee that the knee joint's trajectory tracking error will converge. Finally, the Lyapunov function is set up to show that the controller is stable. It can be seen from the experiment that the suggested control method is better than the conventional SMC because it has a more precise trajectory tracking effect and is more stable.

Citation Download Citation

Jinghao Zhu, Xinyu Zhu, Xinghua Zhang, and Zhenxing Sun "Composite position control based on finite time observer and super-twisting algorithm for flexible lower exoskeleton", Proc. SPIE 12508, International Symposium on Artificial Intelligence and Robotics 2022, 125080B (22 December 2022); https://doi.org/10.1117/12.2663247

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available