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Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton

Author

Listed:
  • Peng Yang
  • Gaowei Zhang
  • Jie Wang
  • Xiaozhou Wang
  • Lili Zhang
  • Lingling Chen

Abstract

A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton. Firstly, the human-robot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg. Then, Vicon motion capture system is employed to obtain the reference trajectory. For the purpose of obviating the “explosion of complexity” in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy. The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances. Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.

Suggested Citation

  • Peng Yang & Gaowei Zhang & Jie Wang & Xiaozhou Wang & Lili Zhang & Lingling Chen, 2017. "Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-10, November.
    • Handle: RePEc:hin:jnlmpe:1064535
    DOI: 10.1155/2017/1064535
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    Cited by:

    1. Aydin Azizi & Mojtaba Naderi Soorki & Tahmineh Vedadi Moghaddam & Ali Soleimanizadeh, 2023. "A New Fractional-Order Adaptive Sliding-Mode Approach for Fast Finite-Time Control of Human Knee Joint Orthosis with Unknown Dynamic," Mathematics, MDPI, vol. 11(21), pages 1-16, November.

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