A Robust Control Scheme Based on Sliding Mode Observer to Drive a Knee‐Exoskeleton

• Published in: Asian journal of control Vol. 21; no. 1; pp. 439 - 455
• Main Authors: Mefoued, Saber, Belkhiat, Djamel Eddine Chouaib
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.01.2019
• Subjects: Closed loops; dynamic modeling; Dynamic models; Exoskeleton device; Exoskeletons; Knee; Parameter identification; Parameter robustness; parameters identification; Proportional integral derivative; Robust control; robust controller; Sitting position; Sliding mode control; sliding mode observer; Stability analysis; Tracking errors

In this paper, a robust control scheme to drive a knee‐exoskeleton has been designed to assist people with limited knee movement. Dynamic modeling and parameter identification of the “subject's lower limb‐exoskeleton” has been performed and a sliding mode observer (SMO) developed and integrated...