Design of UDE based robust tracking controller for knee-joint orthosis

被引：0
|
作者：
Kohli, Charulika [1 ]
Neha, K. [1 ]
Chandar, T. S. [1 ]
机构：
[1] PES Inst Technol, Dept Elect & Elect Engn, Bangalore, Karnataka, India
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS (ICIIS) | 2017年
关键词：
UNCERTAINTY;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this work, a nonlinear mathematical model combining the dynamics of human shank and knee-joint orthosis is considered. First, a feedback linearisation controller is designed to obtain the desired tracking performance. This controller is then robustified by augmenting an Uncertainty and Disturbance Estimator (UDE) strategy to ensure tracking performance in presence of uncertainties and disturbances. Numerical simulations have been carried out to ascertain the efficacy of the proposed UDE based control strategy. Comparison study of the proposed strategy with an established control algorithm available in the literature has also been carried out.
引用
收藏
页码：99 / 104
页数：6
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