Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care.

In this study, Active Disturbance Rejection Control (ADRC) has been designed for motion control of knee-joint based on exoskeleton medical robot. The extended state observer (ESO) is the main part of ADRC structure, which is responsible for estimating both actual states and system uncertainties. The proposed control scheme has adopted two versions of observers as disturbance estimators: linear extended state observer (LESO) and nonlinear extended state observer (NESO). The efficacy of proposed ADRC is strongly related to the performance of used ESO. As such, a comparison study has been conducted to evaluate the performance of two ADRCs in terms of disturbance-rejection capability and robustness to variation in system parameters under two version of ESO (LSO and NLESO). In order to enhance the dynamic performance of ADRC, Particle Swarm Optimization (PSO) algorithm has been used to optimally tune the design parameters of control scheme. To show the effectiveness of proposed LESO-based ADRC and NLESO-based ADRC, numerical simulation have been conducted. The proposed controllers have tested for an uncertain exoskeleton-knee system, where a 20% change in parameters was permitted over their nominal values. The results indicate that the ADRC algorithm based on LESO outperforms the one based on NESO in terms of disturbances rejection ability and robustness to parameters' variations.