Designing a nonlinear disturbance observer and LQR based fractional order backstepping controller for a wearable rehabilitation robot

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

KHAMARI MARYAM; EDRISI MEHDI

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:9 Page(s): 229-241

Download Full-Text

Persian Verion

View:

896

Download:

Cites:

Information Journal Paper

Title

Designing a nonlinear disturbance observer and LQR based fractional order backstepping controller for a wearable rehabilitation robot

Author(s)

KHAMARI MARYAM | EDRISI MEHDI | Issue Writer Certificate

Keywords

Knee wearable robotQ1

Fractional order backstepping controlQ1

Linear quadratic regulatorQ1

Nonlinear disturbance observerQ2

Abstract

Recently, a vast variety of wearable robots with various applications, including rehabilitation, have been produced, but a very challenging part of exoskeleton designing which is its motion control system still requires further investigation to be completed. Due to the nonlinearity in the dynamics of human-exoskeleton, uncertainty in parameters, unmodeled or simplified structures, and external disturbances (such as interaction of exerted human forces and movements), the use of robust control strategies is inevitable. Thus, in this research, a nonlinear disturbance rejection observer was used to estimate all of those as total disturbances. Then, a fractional order backstepping sliding mode (FOBSC) was utilized for enhanced tracking plus a Linear quadratic regulator (LQR) method to optimize the convergence to the equilibrium points. The advantage of using LQR is the optimum selection of the control input, and the FOBSC guarantees the robustness of the controller against uncertainties and disturbances. The combination of fractional order theory and control methods causes less chattering in the human-exoskeleton interactions. Moreover, particle swarm algorithm was used in order to select the coefficients of the cost function of LQR. In order to calculate the effect of the exoskeleton on human muscles and bones, the human parameters and knee motions, OpenSim was used. Matlab was used to implement the control strategy through OpenSim. The proposed method was then compared with the normal backstepping, fractional order system and LQR methods. The results show the superiority of this method compared to the classical methods.

Cites

No record.

References

No record.

Cite

APA: Copy

KHAMARI, MARYAM, & EDRISI, MEHDI. (2018). Designing a nonlinear disturbance observer and LQR based fractional order backstepping controller for a wearable rehabilitation robot. MODARES MECHANICAL ENGINEERING, 18(9 ), 229-241. SID. https://sid.ir/paper/179437/en

Vancouver: Copy

KHAMARI MARYAM, EDRISI MEHDI. Designing a nonlinear disturbance observer and LQR based fractional order backstepping controller for a wearable rehabilitation robot. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(9 ):229-241. Available from: https://sid.ir/paper/179437/en

IEEE: Copy

MARYAM KHAMARI, and MEHDI EDRISI, “Designing a nonlinear disturbance observer and LQR based fractional order backstepping controller for a wearable rehabilitation robot,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 9 , pp. 229–241, 2018, [Online]. Available: https://sid.ir/paper/179437/en

Related Journal Papers