首页|Researchers at Middle Technical University Target Robotics (Antidisturbance con trol design of Exoskeleton Knee robotic system for rehabilitative care)
Researchers at Middle Technical University Target Robotics (Antidisturbance con trol design of Exoskeleton Knee robotic system for rehabilitative care)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Researchers detail new data in robotic s. According to news originating from Baghdad,Iraq, by NewsRx editors, the rese arch stated, “In this study, Active Disturbance Rejection Control (ADRC) has bee n designed for motion control of knee-joint based on exoskeleton medical robot.” The news correspondents obtained a quote from the research from Middle Technical University: “The extended state observer (ESO) is the main part of ADRC structu re, which is responsible for estimating both actual states and system uncertaint ies. The proposed control scheme has adopted two versions of observers as distur bance estimators: linear extended state observer (LESO) and nonlinear extended s tate observer (NESO). The efficacy of proposed ADRC is strongly related to the p erformance of used ESO. As such, a comparison study has been conducted to evalua te the performance of two ADRCs in terms of disturbance-rejection capability and robustness to variation in system parameters under two version of ESO (LSO and NLESO). In order to enhance the dynamic performance of ADRC, Particle Swarm Opti mization (PSO) algorithm has been used to optimally tune the design parameters o f control scheme. To show the effectiveness of proposed LESO-based ADRC and NLES O-based ADRC, numerical simulation have been conducted.”
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