Multivariable Finite-Time Control of 5 DOF Upper-Limb Exoskeleton Based on Linear Extended Observer

被引：15
作者：
Zhang, Gaowei
Yang, Peng
Wang, Jie [1 ]
Sun, Jianjun
机构：
[1] Hebei Univ Technol, Sch Artificial Intelligence, Tianjin 300130, Peoples R China
来源：
IEEE ACCESS | 2018年 / 6卷
基金：
中国国家自然科学基金;
关键词：
Upper-limb exoskeleton; finite-time control; sliding mode control; extended state observer; SLIDING-MODE CONTROL; ROBOTIC SHOULDER REHABILITATION; REENTRY ATTITUDE-CONTROL; FEEDBACK CONTROL SCHEME; ACTUATED EXOSKELETON; HYPERSONIC VEHICLE; DISTURBANCE; DESIGN; SYSTEMS; PHASE;
D O I：
10.1109/ACCESS.2018.2863384
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An output feedback finite-time control strategy for five degree of freedoms (DOF) upper-limb exoskeleton is investigated in this paper. First, a multivariable second-order sliding mode control is proposed to improve the response speed and stability of the exoskeleton system with parameter uncertainties and external disturbances. Furthermore, for the sake of high control precision with limited information, a finite-time linear extended state observer is constructed to estimate both the unmeasured states and the lumped perturbations. Finally, by utilizing the 5-DOF upper-limb model, simulation results are presented to demonstrate the effectiveness of the control strategy.
引用
收藏
页码：43213 / 43221
页数：9
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