eprintid: 17125
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/01/71/25
datestamp: 2023-12-19 03:23:34
lastmod: 2023-12-19 03:23:34
status_changed: 2023-12-19 03:07:30
type: article
metadata_visibility: show
creators_name: Aole, S.
creators_name: Elamvazuthi, I.
creators_name: Waghmare, L.
creators_name: Patre, B.
creators_name: Bhaskarwar, T.
creators_name: Meriaudeau, F.
creators_name: Su, S.
title: Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton
ispublished: pub
note: cited By 7
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. © 2022 by the authors. Licensee MDPI, Basel, Switzerland.
date: 2022
publisher: MDPI
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85123420931&doi=10.3390%2fapp12031287&partnerID=40&md5=c8a5711735ff7af4e7f273bc99bd0435
id_number: 10.3390/app12031287
full_text_status: none
publication: Applied Sciences (Switzerland)
volume: 12
number: 3
refereed: TRUE
issn: 20763417
citation:   Aole, S. and Elamvazuthi, I. and Waghmare, L. and Patre, B. and Bhaskarwar, T. and Meriaudeau, F. and Su, S.  (2022) Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton.  Applied Sciences (Switzerland), 12 (3).   ISSN 20763417