Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models

DOI10.1002/RNC.5381MaRDI QIDQ6089865zbMATH OpenFDO

Authors Ying Li, Jin Ke, Jianping Zeng

Publication date 13 November 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/RNC.5381

zbMATH Keywords

composite tracking controllerhigh-order nonlinear disturbance observerlower limb rehabilitation robotpolynomial nonlinear uncertain modelsum of squares

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A new kind of nonlinear disturbance observer for nonlinear systems with applications to cruise control of air-breathing hypersonic vehicles
• Automated generation and comparison of Takagi-Sugeno and polytopic quasi-LPV models
• Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach
• Gain Scheduled LPVH? Control Based on LMI Approach for a Robotic Manipulator
• LMI Techniques for Optimization Over Polynomials in Control: A Survey
• Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems
• Notice of Removal: A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties

Cited in

(4)

• Nonfragile predictive control for an omnidirectional rehabilitative training walker with constraints on the tracking errors of position and velocity
• Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems
• Adaptive output feedback fault‐tolerant control for nonlinear stochastic systems with output constraint
• Swift augmented human-robot dynamics modeling for rehabilitation planning analyses

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