Nonlinear disturbance observer based flexible-boundary prescribed performance control for a lower limb exoskeleton

DOI10.1080/00207721.2021.1922952zbMath1483.93446OpenAlexW3162315098MaRDI QIDQ5029143

Haoping Wang, Yang Tian, Yu Wang

Publication date: 11 February 2022

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2021.1922952

zbMATH Keywords

nonlinear disturbance observerflexible-boundary prescribed performance controllower limb exoskeleton

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Observers (93B53)

Related Items (2)

Active torque-based gait adjustment multi-level control strategy for lower limb patient-exoskeleton coupling system in rehabilitation training ⋮ Hierarchical critic learning optimal control for lower limb exoskeleton robots with prescribed constraints

Uses Software

• Simulink

Cites Work

• Adaptive sliding mode control of a class of nonlinear systems with artificial delay
• Computational algorithms for computing the inverse of a square matrix, quasi-inverse of a non-square matrix and block matrices
• A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
• Low-Complexity Prescribed Performance Control of Uncertain MIMO Feedback Linearizable Systems
• Nonrepetitive trajectory tracking for nonlinear autonomous agents with asymmetric output constraints using parametric iterative learning control
• Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
• Nonlinear Disturbance Observers: Design and Applications to Euler?Lagrange Systems
• Bounded‐input prescribed performance control of uncertain Euler–Lagrange systems
• Robust adaptive prescribed performance control for a class of nonlinear pure‐feedback systems
• Robot Dynamics Algorithms

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