Integrated Observer-based Fixed-time Control with Backstepping Method for Exoskeleton Robot

doi:10.1007/s11633-019-1201-z

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	Integrated Observer-based Fixed-time Control with Backstepping Method for Exoskeleton Robot
	Gao-Wei Zhang 1,2; Peng Yang 1,2; Jie Wang1,2 ; Jian-Jun Sun 1,2; Yan Zhang 1,2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2020
卷号	17 期号:1 页码:71-82
摘要	To achieve the fast convergence and tracking precision of a robotic upper-limb exoskeleton, this paper proposes an observer-based integrated fixed-time control scheme with a backstepping method. Firstly, a typical 5 DoF (degrees of freedom) dynamics is constructed by Lagrange equations and processed for control purposes. Secondly, second-order sliding mode controllers (SOSMC) are developed and novel sliding mode surfaces are introduced to ensure the fixed-time convergence of the human-robot system. Both the reaching time and settling time are proved to be bounded with certain values independent of initial system conditions. For the purpose of rejecting the matched and unmatched disturbances, nonlinear fixed-time observers are employed to estimate the exact value of disturbances and compensate the controllers online. Ultimately, the synthesis of controllers and disturbance observers is adopted to achieve the excellent tracking performance and simulations are given to verify the effectiveness of the proposed control strategy.
关键词	Upper-limb exoskeleton sliding mode control (SMC) fixed-time control disturbance observe backstepping.
DOI	10.1007/s11633-019-1201-z
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42311
专题	学术期刊_Machine Intelligence Research
作者单位	1.School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, China 2.Enginnering Research Center of Intelligent Rehabilitation and Detection Technology, Ministry of Education, Tianjin 300130, China
推荐引用方式 GB/T 7714	Gao-Wei Zhang,Peng Yang,Jie Wang,et al. Integrated Observer-based Fixed-time Control with Backstepping Method for Exoskeleton Robot[J]. International Journal of Automation and Computing,2020,17(1):71-82.
APA	Gao-Wei Zhang,Peng Yang,Jie Wang,Jian-Jun Sun,&Yan Zhang.(2020).Integrated Observer-based Fixed-time Control with Backstepping Method for Exoskeleton Robot.International Journal of Automation and Computing,17(1),71-82.
MLA	Gao-Wei Zhang,et al."Integrated Observer-based Fixed-time Control with Backstepping Method for Exoskeleton Robot".International Journal of Automation and Computing 17.1(2020):71-82.

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