Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton

In this paper, a combined control strategy with extended state observer (ESO) and finite time stable tracking differentiator (FTSTD) has been proposed to perform flexion and extension motion repetitively and accurately in the sagittal plane for shoulder and elbow joints. The proposed controller impr...

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Detalhes bibliográficos

Principais autores:	Sumit Aole, Irraivan Elamvazuthi, Laxman Waghmare, Balasaheb Patre, Tushar Bhaskarwar, Fabrice Meriaudeau, Steven Su
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2022-01-01
coleção:	Applied Sciences
Assuntos:	linear extended state observer finite-time stable tracking differentiator passive rehabilitation purpose two-link multiple-input multiple-output
Acesso em linha:	https://www.mdpi.com/2076-3417/12/3/1287
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