A novel approach of multi-loop control based-ADRC for improving lower knee position exoskeleton system

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dc.contributor.authorAlawad, Nasir Ahmed
dc.contributor.authorHumaidi, Amjad Jaleel
dc.contributor.authorAlaraji, Ahmed Sabah
dc.contributor.statusnem
dc.date.accessioned2024-01-19T12:05:01Z
dc.date.available2024-01-19T12:05:01Z
dc.date.issued2023-05-09
dc.description.abstractThis study revealed the system of a lower limb exoskeleton created for knee rehabilitation. The exoskeleton has been extensively used in rehabilitation robotic device research, but its practical applicability is limited due to its high nonlinearity and uncertain behavior. As a result, the control technique is critical in increasing the efficacy of rehabilitation devices. For the rehabilitation and help of a patient with a lower-limb condition, a sliding mode control (SMC) with proportional derivative (PD) control approach are used as parallel loops. Active disturbances rejection control (ADRC) is used by these controllers to cancel any external influences. To overcome the degradation of disturbance rejection and robustness caused by a failure to fully adjust for the entire disturbance, a (SMC) loop was introduced to the control regulation. By assessing performance indices related to the estimated inaccuracy, the results demonstrate the effectiveness of the suggested controller. Simulink is used for simulation and analysis.
dc.identifier.doi10.1556/1848.2023.00546
dc.identifier.issn2062-0810
dc.identifier.issue2
dc.identifier.jtitleInternational Review of Applied Sciences and Engineering
dc.identifier.urihttps://hdl.handle.net/2437/365281
dc.identifier.urlhttps://akjournals.com/view/journals/1848/14/3/article-p316.xml
dc.identifier.volume14
dc.language.isoen
dc.publisherAkadémiai Kiadó
dc.subjectlower extremity
dc.subjectADRC
dc.subjectSMC
dc.subjectPD controller
dc.subjecttrajectory tracking
dc.subjectexogenous disturbances
dc.titleA novel approach of multi-loop control based-ADRC for improving lower knee position exoskeleton system
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International Review of Applied Sciences and Engineering