Modified Tracking Differentiator for Enhancing the Performance of Exoskeleton Knee System Based on Active Disturbance Rejection Control | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Article 6, Volume 23, Issue 1, March 2023, Pages 69-83 PDF (1.69 M) | ||
| Document Type: Research Paper | ||
| DOI: https://doi.org/10.33103/uot.ijccce.23.1.6 | ||
| Authors | ||
| Nasir Ahmed Alawad* 1; Amjad J Humaidi* 2; Ahmed Sabah Alarejee* 3 | ||
| 1Department of Computer Engineering, Faculty of Engineering, Mustansiriyah University, Baghdad, IRAQ | ||
| 2University of Technology-Control and Systems Engineering Department | ||
| 3Computer Engineering Department | ||
| Abstract | ||
| Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. The exoskeleton is a small robotic device used for knee injury training. It is a nonlinear mathematical model with many mechanical factors that might vary and produce uncertainty, as well as external disturbances that can be utilized to monitor control. The transitioning process is frequently organized using tracking differentiator TD to resolve the conflict between system speed and overshoot. An active disturbance rejection control (ADRC) with a modified tracking differentiator is described to tackle these challenges, enhance control accuracy, and reduce settling time for exoskeleton modified trajectory differentiator (MTD).Simulation tests showed that (MTD) reduced the tracking error by 36%, when compared with the improved TD1 and 37.5% for Hans TD2 at uncertainty case . Despite the presence of several model uncertainties, the suggested training knee exoskeleton robot system using the MTD-ADRC was able to achieve the necessary target value. Control design and analysis can be done with Matlab and Simulink | ||
| Keywords | ||
| Exoskeleton system; ADRC; MTD; nonlinear calculus; robustness | ||
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