System Development & Application
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2413-2416

Sliding mode control of lower extremity exoskeleton based on nonlinear disturbance observer

Yu Zhenzhong
Yao Jintao
Ministry of Education Key Laboratory of Advanced Process Control for Light Industry, Jiangnan University, Wuxi 214122, China

Abstract

Aiming at the characteristics of lower limb exoskeleton which is sensitive to internal parameter disturbance and external disturbance during trajectory tracking, this paper designed a sliding mode control strategy for lower extremity exoskeleton robot based on nonlinear disturbance observer. Firstly, it established the dynamic model of the upper extremity exoskeleton, and analyzed its dynamic characteristics. Secondly, it designed the nonlinear disturbance observer to observe the uncertainty of the lower limb system and external disturbance. On this basis, in order to ensure the convergence of the tracking error of the system trajectory and weaken the chattering, it designed a low-pass filtered sliding mode controller. According to the theory of Lyapunov stability, it proved the stability of the lower limb system. Finally, through simulation and experimental verification, the control strategy can effectively overcome the interference caused by various factors and improve the control performance and stability of the system.

Foundation Support

国家自然科学基金资助项目(51405198)
中国博士后科学基金资助项目(166624)
江苏省自然科学基金资助项目(BK20130159)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.04.0087
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 8
Section: System Development & Application
Pages: 2413-2416
Serial Number: 1001-3695(2020)08-036-2413-04

Publish History

[2020-08-05] Printed Article

Cite This Article

于振中, 姚锦涛. 基于非线性干扰观测器的下肢外骨骼上楼梯滑模控制 [J]. 计算机应用研究, 2020, 37 (8): 2413-2416. (Yu Zhenzhong, Yao Jintao. Sliding mode control of lower extremity exoskeleton based on nonlinear disturbance observer [J]. Application Research of Computers, 2020, 37 (8): 2413-2416. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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