Robust Sliding Mode Control for a 2-DOF Lower Limb Exoskeleton Base on Linear Extended State Observer

For the 2- Degree of Freedom (DOF) lower limb exoskeleton, to ensure the system robustness and dynamic performance, a linear-extended-state-observer-based (LESO) robust sliding mode control is proposed to not only reduce the influence of parametric uncertainties, unmodeled dynamics, and external disturbance but also estimate the unmeasurable real-time joint angular velocity directly. Then, via Lyapunov technology, the stability of the corresponding LESO and controller is proven. The appropriate and reasonable simulation was carried out to verify the effectiveness of the proposed LESO and exoskeleton controller.

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Sliding Mode Control Using linear extended state observer(LESO) and hysteresis compensator based on Bouc-Wen model in sinusoidal position control of a piezoelectric actuator

Proceedings of the 33rd Chinese Control Conference ◽

10.1109/chicc.2014.6895579 ◽

2014 ◽

Author(s):

Zhi Qiao ◽

Minggang Gan ◽

Chenyi Wang

Keyword(s):

Sliding Mode Control ◽

Piezoelectric Actuator ◽

Position Control ◽

Sliding Mode ◽

State Observer ◽

Extended State Observer ◽

Extended State ◽

Mode Control ◽

Linear Extended State Observer

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Sliding Mode Control Based on Linear Extended State Observer for DC-to-DC Buck-Boost Power Converter System with Mismatched Disturbances

IEEE Transactions on Industry Applications ◽

10.1109/tia.2021.3130017 ◽

2021 ◽

pp. 1-1

Author(s):

Jesus Linares-Flores ◽

Jose Antonio JAJA Juarez-Abad ◽

Arturo Hernandez-Mendez ◽

Omar Castro-Heredia ◽

Jose Fermi Guerrero-Castellanos ◽

...

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

State Observer ◽

Power Converter ◽

Extended State Observer ◽

Extended State ◽

Mode Control ◽

Linear Extended State Observer ◽

Mismatched Disturbances

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Backstepping sliding-mode control for missile attitude using a linear extended state observer

Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference ◽

10.1109/cgncc.2014.7007271 ◽

2014 ◽

Cited By ~ 5

Author(s):

Sen Wang ◽

Weihong Wang ◽

Shaofeng Xiong

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

State Observer ◽

Extended State Observer ◽

Extended State ◽

Mode Control ◽

Backstepping Sliding Mode Control ◽

Linear Extended State Observer

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Extended State Observer-Based Sliding Mode Control with New Reaching Law for PMSM Speed Control

Mathematical Problems in Engineering ◽

10.1155/2016/6058981 ◽

2016 ◽

Vol 2016 ◽

pp. 1-10 ◽

Cited By ~ 9

Author(s):

Junzhang Qian ◽

Ai Xiong ◽

Wenli Ma

Keyword(s):

Sliding Mode Control ◽

Disturbance Rejection ◽

Sliding Mode ◽

External Disturbance ◽

Speed Control ◽

State Observer ◽

Extended State Observer ◽

Extended State ◽

Reaching Law ◽

Mode Control

In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor (PMSM) in speed control, sliding mode control with extended state observer is adopted in this paper. First, an exponential function-based sliding mode reaching law (ESMRL) is developed. The ESMRL can dynamically adapt to the variations of the controlled system, which decrease the reaching time in reaching stage and void chattering in sliding motion stage while maintaining high tracking accuracy of the servo system. Then, an extended state observer (ESO) is introduced to the controller to simultaneously estimate external disturbance and compensate the uncertainties. Simulation results demonstrate that the proposed method has better suppression of chattering effect and disturbance rejection ability while ensuring dynamic performance.

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An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420986036 ◽

2021 ◽

Vol 18 (1) ◽

pp. 172988142098603

Author(s):

Daoxiong Gong ◽

Mengyao Pei ◽

Rui He ◽

Jianjun Yu

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

State Observer ◽

Extended State Observer ◽

Artificial Muscles ◽

Extended State ◽

Robot System ◽

Mode Control ◽

Physical Experiments ◽

Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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