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https://doi.org/10.1109/tase.2024.3370168

has been cited by the following article:

• TITLE: Adaptive Robust Control with Leakage-Type Control Law for Trajectory Tracking of Exoskeleton Robots

  AUTHORS: Jin Tian, Xiulai Wang, Ningling Ma, Yutao Zhang

  KEYWORDS: Trajectory Tracking, Adaptive Robust Control, Exoskeleton Robots, Uncertainties

  JOURNAL NAME: Advances in Internet of Things, Vol.14 No.3, July 31, 2024

  ABSTRACT: This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.