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

Aole, S; Elamvazuthi, I; Waghmare, L; Patre, B; Bhaskarwar, T; Meriaudeau, F; Su, S

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

Aole, S Elamvazuthi, I Waghmare, L Patre, B Bhaskarwar, T Meriaudeau, F Su, S

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Publisher:: MDPI
Publication Type:: Journal Article
Citation:: Applied Sciences (Switzerland), 2022, 12, (3)
Issue Date:: 2022-02-01

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Field	Value	Language
dc.contributor.author	Aole, S
dc.contributor.author	Elamvazuthi, I
dc.contributor.author	Waghmare, L
dc.contributor.author	Patre, B
dc.contributor.author	Bhaskarwar, T
dc.contributor.author	Meriaudeau, F
dc.contributor.author	Su, S https://orcid.org/0000-0002-5720-8852
dc.date.accessioned	2023-03-20T00:13:06Z
dc.date.available	2023-03-20T00:13:06Z
dc.date.issued	2022-02-01
dc.identifier.citation	Applied Sciences (Switzerland), 2022, 12, (3)
dc.identifier.issn	2076-3417
dc.identifier.issn	2076-3417
dc.identifier.uri	http://hdl.handle.net/10453/167650
dc.description.abstract	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 improves the tracking accuracy, performs state estimation, and actively rejects disturbance. A sinusoidal trajectory as an input has been given to a two-link multiple-input multiple-output (MIMO) upper limb robotic rehabilitation exoskeleton (ULRRE) for a passive rehabilitation purpose. The efficacy of the controller has been tested with the help of performance indices such as integral time square error (ITSE), integral square error (ISE), integral time absolute error (ITAE), and integral of the absolute magnitude of error (IAE). The system model is obtained through the Euler–Lagrangian method, and the controller’s stability is also given. The proposed controller has been simulated for ±20% parameter variation with constant external disturbances to test the disturbance rejection ability and robustness against parametric uncertainties. The proposed controller has been compared with already developed ESO-based methods such as active disturbance rejection control (ADRC), nonlinear active disturbance rejection control (NLADRC), and improved active disturbance rejection control (I-ADRC). It has been found that the proposed method increases tracking performance, as evidenced by the above performance indices.
dc.language	English
dc.publisher	MDPI
dc.relation.ispartof	Applied Sciences (Switzerland)
dc.relation.isbasedon	10.3390/app12031287
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton
dc.type	Journal Article
utslib.citation.volume	12
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Centre for Health Technologies (CHT)
utslib.copyright.status	open_access	*
dc.date.updated	2023-03-20T00:13:05Z
pubs.issue	3
pubs.publication-status	Published
pubs.volume	12
utslib.citation.issue	3

Abstract:

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 improves the tracking accuracy, performs state estimation, and actively rejects disturbance. A sinusoidal trajectory as an input has been given to a two-link multiple-input multiple-output (MIMO) upper limb robotic rehabilitation exoskeleton (ULRRE) for a passive rehabilitation purpose. The efficacy of the controller has been tested with the help of performance indices such as integral time square error (ITSE), integral square error (ISE), integral time absolute error (ITAE), and integral of the absolute magnitude of error (IAE). The system model is obtained through the Euler–Lagrangian method, and the controller’s stability is also given. The proposed controller has been simulated for ±20% parameter variation with constant external disturbances to test the disturbance rejection ability and robustness against parametric uncertainties. The proposed controller has been compared with already developed ESO-based methods such as active disturbance rejection control (ADRC), nonlinear active disturbance rejection control (NLADRC), and improved active disturbance rejection control (I-ADRC). It has been found that the proposed method increases tracking performance, as evidenced by the above performance indices.

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http://hdl.handle.net/10453/167650